@inproceedings{82c0e51be8cc4a5d9c82f53ffa63d41b,
title = "Improving accuracy of hydraulic-driven forceps",
abstract = "Haptic sensing functions are necessary for the micro-manipulators used in surgical operations or bioengineering. We developed hydraulic-driven forceps with a micro-bearing and bellows tube that can convey haptic information to the operator. This system can measure small forces acting on the tips of the forceps by using Pascal's principle. A model of the system is provided that shows the relationship between the internal pressure of the bellows and the rotary angles of the forceps. It was confirmed using this model that the developed system makes it possible to estimate both the strength and the direction of the external forces applied to the forceps by measuring the pressure of the bellows. However, there was error when the prototype of the forceps measured the force. The relationship between the pressure of the bellows and the rotary angles of the forceps has some hysteresis. Therefore, we constructed a model of the bellows taking these characteristics into consideration and redesigned the forceps to improve accuracy. When using the new model, it was recognized that the weight of the forceps was related to the change in the pressure of the bellows. In this report, we describe the redesigned forceps, which can measure a very small force, and the system, which enables the operator to feel a force response when holding a blood vessel.",
keywords = "Force feedback, Forceps, Hydraulic-driven, Surgical manipulator",
author = "Tohru Sasaki and Yasuyuki Mito and Kyosei Yamamoto and Mitsuru Jindai",
year = "2016",
language = "英語",
series = "Proceedings of the 16th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2016",
publisher = "euspen",
editor = "P. Bointon and Richard Leach and N. Southon",
booktitle = "Proceedings of the 16th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2016",
note = "16th International Conference of the European Society for Precision Engineering and Nanotechnology, EUSPEN 2016 ; Conference date: 30-05-2016 Through 03-06-2016",
}