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首页> 外文会议>IEEE International Conference on Micro Electro Mechanical Systems >MEMS 6-axis force-torque sensor attached to the tip of grasping forceps for identification of tumor in thoracoscopic surgery
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MEMS 6-axis force-torque sensor attached to the tip of grasping forceps for identification of tumor in thoracoscopic surgery

机译：MEMS 6轴力扭矩传感器连接到握钳的尖端，以在胸腔镜手术中识别肿瘤

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摘要

We developed a MEMS 6-axis force-torque sensor attached to the tip of grasping forceps for identification of tumor in thoracoscopic surgery. To validate the grasping forceps with sensors, the gelatin in which a silicone sphere was embedded was grasped with it and the variations in 3-axis force and 3-axis torque depending on grasping positions were measured. The size of the embedded hard object in a soft material was derived from acquired data of compression forces. It was also indicated that we can get the direction of the object from 2-axis torques.
机译：我们开发了一个MEMS 6轴力扭矩传感器，该传感器附在握钳的尖端上，用于在胸腔镜手术中识别肿瘤。为了验证带有传感器的抓握钳，将其内嵌有硅酮球的明胶进行抓握，并根据抓握位置测量3轴力和3轴扭矩的变化。从柔软的材料中嵌入的硬物体的尺寸是从获得的压缩力数据中得出的。还表明我们可以从2轴扭矩获得对象的方向。

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