수술용 슬레이브 로봇에서 접촉력을 간접적으로 측정하기 위한 슬라이더의 설계

Abstract

Surgical robot systems have been rapidly deployed and showed successful results. However, the surgical robots do not yet provide sufficient haptic feedback to surgeons. It is quite difficult to apply haptic sensors directly to the slave robots and end-effectors due to issues such as wet environment, sterilization, and bio-compatibility. This paper presents a method to measure the contact force at the slave robot using a slider of the slave arm. The contact force at the gripper is measured from the torque in the tongue-groove joints using a force or a pressure sensor attached at the surface of the tongue joint.