JP4273464B2 - Gripping tool for 6-axis force sensor - Google Patents

Description

  The present invention relates to a gripping tool for a six-axis force sensor used for acquiring operation data of a manual work tool that operates using human fingers.

Developed 6-axis force sensor to analyze human grasping operations and to detect contact force data when a human is performing grasping operations for the purpose of using the data in a robot Has been. In addition, a six-axis force sensor has also been developed that can be used as a sensor for a force presentation device that makes virtual data in a computer feel as if it were real to an operator.
The conventional 6-axis force sensor is attached to the wrist of the robot (for example, NITTA Corporation 6-axis force sensor IFS series), and is attached to the fingertip of the robot hand (for example, NA Autotech Corporation NANO sensor) ) Has been developed.
In addition, as a sensor that is worn on a human hand and detects a pressure distribution applied to a finger or palm, a distributed tactile sensor using a pressure-sensitive conductive rubber or a conductive ink sheet is configured in a glove shape (for example, knitter ( Grove scan system) has been developed.

  Human manual analysis data can be used to develop robot control algorithms and to design and evaluate products that humans handle. In order to analyze human manual work, it is necessary to measure not only the movement of fingers, but also the force exerted on the object by the fingers. In consideration of these problems, the present inventor proposed a finger suck type structure for a 6-axis force sensor that can be worn on a human fingertip (Patent Document 1: Japanese Patent No. 3261653, Patent Document 2: Patent). No. 3409160, Patent Document 3: Japanese Patent No. 3624374).

On the other hand, research and development is also progressing on a method for obtaining data from a work tool to be operated.
The data of the fingertips to be operated and the data of the work tools are important for the reduction of skilled workers and the preservation and reproduction of traditional performing arts and skills, and show the visual data such as video and the concrete power that realizes it. Data can be easily reproduced even when these skills cannot be directly passed down.
Also, in the medical field, there is a tendency for advanced surgery to concentrate on those who have gained experience in performing surgery that is not allowed to fail. Training devices such as surgical simulators have been developed, but the operation is often performed on a device for a simulated surgical mannequin model.
If a model in which the skill of surgery itself is quantified can be constructed, the standard model and the training can be specifically compared, and the feedback becomes accurate, so that the training accuracy can be improved. For this reason, development proposals for operation data collection devices have been made.

  For example, Patent Document 4 (Japanese Utility Model Laid-Open No. 01-81547) discloses a brushing force measuring device for brushing teeth. Japanese Patent Application Laid-Open No. 08-76914 discloses a prior behavior detection method and a pen input device. Japanese Patent Application Laid-Open No. 2000-259074 discloses a tool-mediated force sense presentation system. Japanese Patent Application Laid-Open No. 11-161813 discloses a surgical simulation apparatus.

Japanese Patent No. 3261653 Japanese Patent No. 3409160 Japanese Patent No. 3624374 Japanese Utility Model Publication No. 01-81547 JP 08-76914 A JP 2000-259074 A JP 11-161813 A

The operation data collection device proposed so far is a device unique to each work tool, and it has not been realized to collect data of a whole series of work uniformly. Surgery requires many types of scalpels alone, so it is difficult to acquire the skills of the entire operation even if specific types of data are acquired and simulated. The present invention proposes an operation data collection device that can share a sensor body and change a plurality of tools. We propose a 6-axis force sensor tool for measuring the operating force when grasping and operating a real tool used for information used for haptic interface and motion capture .

According to the present invention, a portion corresponding to an operating handle and a functional portion of a work tool can be attached and detached before and after the sensor main body. As a result, we have developed a device that can unify the acquisition of data related to skills composed of a series of tasks using multiple hand tools. This provides a data device set that is a set of a plurality of manual tools used for a single skill. In addition, it can contribute to the collection of basic data for the development of simulators that use multiple work tools.
That is, the present invention is based on the following means.

(1) A device used to obtain the operation information as the force information for the force information or haptic interface for motion capture using real female surgical,
The sensor body A includes a gripping part B that is a handle of an actual surgical knife and a working part C that is a blade part of an actual surgical knife. The gripping part B and the working part C are connected to the sensor body A. A surgical type female-type 6-axis force sensor gripping tool that is detachably attached to the surgical tool,
The sensor body A has a 6-axis force sensor built in the housing, and the housing is detected by a projection for connecting to an external link mechanism for collecting three-dimensional spatial information and a 6-axis force sensor. An information cable for outputting the information is attached, and when the gripping part B is held with fingers and the gripping tool for 6-axis force sensor is operated on the actual object, the working part C or A force acting on the gripping part B is detected by a 6-axis force sensor between the gripping part B and the working part C;
This 6-axis force sensor functions as a force sensor for motion capture or a force sensor for a haptic interface,
The gripping part B and the working part C have a connecting structure that can be attached to and detached from the sensor body A,
The connection structure, the connector D of the gripper B or separately from the working unit C, and a E,
Working unit C gripper B及beauty, depending on the type of work, and a plurality equipped,
A plurality of gripping parts B and work parts C can be replaced with a plurality of manual work tools by providing a common connection structure, and each operation data can be collected.
The connection structure has a flange that is detachably connected to the housing of the sensor main body A in the connectors D and E.
The connector D on the gripping part side and the connector E on the working part side are composed of one block piece having the flange and the other block piece having no flange,
The one block piece is provided with a female rear end positioning hole or a female handle tip positioning hole at the center of the flange, and is provided with a recess that continuously stands from the edge of the positioning hole. The clamping block piece has a recess at a position facing the recess provided in the one clamping block piece, and the rear end of the knife blade or the tip of the knife handle is used as the positioning hole. It has a structure that can be fixed by connecting the block pieces together by accommodating the rear end side of the knife or the handle tip side of the knife in the space where both concave parts are inserted and inserted,
The blade part of the knife and the handle of the knife corresponding to the gripping part B and the working part C provided in the plurality of types are inserted into the concave part of the connector at the proximal end side of the blade part and the distal end side of the knife handle following the knife spanning part. Molded into possible shapes,
A gripping tool for a six-axis force sensor.
(2) The gripping tool for a six-axis force sensor according to (1), wherein the knife is for surgery .
(3) The gripping tool for a six-axis force sensor according to (1), wherein the knife is for otolaryngology .
(4) The 6-axis force sensor gripping tool according to (1), wherein the knife is for ophthalmology .
( 5 ) The 6-axis force sensor gripping according to any one of (1) to ( 4 ), wherein the work tool is a set of a plurality of types used for a series of work such as surgery. Mold tool.
( 6 ) For the force sensor for motion capture, characterized in that the working part side of the sensor body A is a sensing part and the gripping part side is a fixed part, (1) to ( 5 ) A gripping tool for a six-axis force sensor according to any one of the above.
( 7 ) For the haptic interface force sensor characterized in that the working part side of the sensor body A is a fixed part and the gripping part side is a sensing part, (1) to ( 5 ) A gripping tool for a six-axis force sensor according to any one of the above.

By sharing the sensor body and replacing a plurality of tools, operation data suitable for each tool can be collected.
Since the part corresponding to the handle for operation and the functional part of the work tool can be attached and removed before and after the sensor main body, unified acquisition of total data on skills composed of a series of work using multiple hand tools Can be done automatically. The collection of basic data for the development of a simulator is facilitated by setting a plurality of manual tools together.

It is easy to acquire force data of manual tools operated by humans, such as a motion capture 6-axis force sensor and a haptic interface 6-axis force sensor.
In particular, it is a data collection tool that is useful for storing and reproducing skilled skills and handing down traditional techniques. Furthermore, regarding medical practices such as surgery where failure is not allowed, a standard model can be created by digitizing the skill of a master, and further, an objective comparison with a model can be made by applying it to a training machine.
By connecting to the link mechanism, the motion capture force sensor can collect three-dimensional spatial information, and the haptic interface force sensor can present position information to the trainee.

In a device used for obtaining operation information using a manual work tool, a 6-axis force sensor gripping tool composed of a sensor body A, a gripping part B, and a working part C, the gripping part B and The working unit C has a connecting structure that can be attached to and detached from the sensor main body A. The connecting structure is attached to the gripping part B or the working part C, or is provided as a separate connector D, E. The gripping part B and / or the working part C is a gripping tool for a six-axis force sensor that is provided in plural according to the type of tool.
It can be applied to a surgical knife as a manual work tool. In the surgical knife, the handle of the knife corresponds to the grip part, and the blade part of the knife corresponds to the working part. Several types of scalpels are used for the operation.

[Sensor body A]
The sensor used in the present invention is a 6-axis force sensor. The force sensor used in the present invention is suitably thin. At present, the outer diameter of the casing portion is about 10 mm and the outer diameter is less than 20 mm.

Mainly, a sensing unit of a six-axis force sensor using a strain gauge will be exemplified below.
The sensing unit of the six-axis force sensor is an elastic structure and has a structure that is easily distorted with respect to a specific force component (force and moment). The base and the flange are connected via three beams, and a strain gauge is attached to each surface of the beam. When an external force is applied to the elastic structure, the beam is distorted, and this strain is converted into an electric signal by a strain gauge, whereby a force component can be extracted as an electric signal of the strain gauge. Note that an optical sensor unit can be used instead of the strain gauge as an element for detecting the strain of the six-axis force sensor elastic structure. This elastic structure can be made to have a thickness of 2 mm or less.

  A strain stiffness matrix that represents the relationship between the six-axis force (force and moment in the three-axis direction) acting on the elastic structure and the output of the strain gauge of each beam is obtained in advance by calibration. The strain stiffness matrix is a matrix that converts the strain gauge output of each beam into force. Using the strain stiffness matrix, the 6-axis force acting on the elastic structure can be obtained by calculation from the output signal of the strain gauge.

The elastic structure is housed in a housing, a projection for connecting to the link mechanism is provided as a link coupling portion, and a signal extraction cable is attached to constitute a 6-axis force sensor main body. The cable is connected to an external amplifier or the like. The casing has a substantially cylindrical shape, and an operation handle can be attached to one surface, and a functional part of a tool such as a surgical knife can be attached to the other surface. The mounting surface can be a flat surface provided with a screw hole, and can be screwed by abutting against the other flat flange. As a member for attachment, a protruding rib, a screw portion, or the like can be appropriately set. Moreover, it is also possible to create unevenness for positioning with the counterpart and for preventing rotation on the mounting surface.
When used for a motion capture force sensor that is used for collecting information such as the force of a master or the like, the sensitive surface of the elastic structure is the surface on which the tool is attached. The opposite side is a fixed part and does not serve as an information input surface.
When a practitioner or the like trains, when using it for a haptic force sensor that uses this tool while feeding back the force of a master's model, the sensitive surface of the elastic structure is the surface on which the handle is attached. Become. By connecting to the link mechanism, which is the fixed part on the opposite side, the motion capture force sensor can collect three-dimensional spatial information, and the haptic force sensor presents position information to the trainee. Is possible.

[Grip part B]
The gripping part is a part that is actually held by fingers and is a part corresponding to the handle of the work tool. This gripping part can also be prepared by processing a handle of an actually used working tool. It can also be created in a shape similar to the pattern of an actual work tool.
Since it is desirable that the surgical knife or the like is close to that actually used, it is desirable to process and manufacture a knife handle used in actual surgery.
Pencils, ballpoint pens, fountain pens, and other types of pen nibs are usually used, but patterns can be handled with standard patterns. Of course, it can also be manufactured from the actual product.
The gripping part and the sensor body can be structured such that a standard gripping part can be directly connected to the mounting surface of the sensor body part. When manufacturing an actual handle, it can be handled by using a connector for connecting the tip of the handle and the sensor body.

  A sensor body of about 10 mm thickness is connected to the tip of the gripping unit, and a functional unit for work is connected to the front of the sensor, and writing instruments such as pencils and ballpoint pens are about 10-20 mm from the taper to the most advanced. The gripping part is 20 to 30 mm or more from the tip, and is a sufficient position as a holding part of the writing instrument. The length of the gripping part is within a range in which the length of the actual work tool can be secured, and a process such as cutting is applied to the length excluding the length of the work site and the sensor body.

[Working part C]
Since the functional parts, which are the actual working parts of the work tool such as the cutting edge used for surgery and the pen tip of the writing tool, have a specific shape according to each tool, it is not possible to form a joint structure directly on the functional part. However, it is not practical, and it is preferable to connect to the sensor body via a connector for connection.
The working part secures a part that actually functions, and cuts the rear end part into a shape suitable for the joint part of the connector within a range in which the length close to the actual length of the working tool can be secured.

With a writing instrument, a writing function is possible as long as about 10 to 20 mm can be secured. There are various types of surgical scalpels, but even if the bladed part is 40 to 50 mm, about 20 mm is actually used from the tip part. In this example, a bladed part of about 30 mm is secured. Since it is desirable to be able to do so, a sufficient length can be secured including the portion covered by the connector.
As the other work tools, it can be applied to general hand tools used by a technician.
Examples include tools used by surgeons, brain surgeons, ophthalmologists, gynecologists, carpenters, cooks, Buddhists, sculptors, and the like.
If it is a surgeon, a set of scalpels, forceps, a suture instrument, tweezers, and the like, which are surgical tools, may be mentioned. It is also necessary for physicians to use sample collection tools and syringes for biological examinations such as internal organs that are examination equipment. Moreover, the endoscope provided with therapeutic instruments, such as an endoscope and a laser, is also mentioned. Some surgical tools are specialized depending on the intended use, such as for brain surgery and ophthalmology. Carpenters can also exemplify fleas for knives that require craftwork, craftsmen such as swords, or carpenters, and cooking utensils that require knives.

[Connectors D and E]
It is a connector used when connecting the blade edge part and handle of a scalpel used for surgery to the sensor body. The sensor body, the gripping part, and the working part need to be firmly connected so that there is no wobbling or play. For wobble, the data will be inaccurate.
The connector has a shape suitable for the mounting surface of the sensor body on the sensor body side. For example, in the case of plane matching between planes, a plane is provided. The coupling mechanism that abuts the surfaces of the flat flanges and is screwed together can prevent the grip portion and the tip side from wobbling to increase the fixing system, and can easily improve the information accuracy. Moreover, about the handle | side, the flange part can be made thin and the restriction | limiting of the position actually pressed with a finger can be made small. And it shall be provided with the unevenness | corrugation for engagement etc. suitably for a screw hole or positioning and rotation prevention.
The working unit side can devise a connection structure that matches the shape of each working unit. For a surgical knife having a similar shape to some extent, it is possible to process the working portion into a common connection structure.

As for the gripping part corresponding to the handle, those that can be used in common, such as a round bar and a flat bar, can be provided with a dedicated product having a joint structure with the sensor body. For example, a gripping part having a flange fixed to the tip of a round bar. As for the surgical knife and the like, it is preferable to interpose a connector in the same manner as the working unit side if there are variations according to various uses such as a round bar, a hexagonal bar, and a flat bar of different sizes. Even in this case, the handle can be processed into a shape suitable for the connecting structure.
The structure that connects the handle and the working part can be inserted between the split molds, inserted into the split mold with the receiving recesses and pressed down and fixed, or the root is inserted into the hollow of the cylindrical split mold from the outside. Means for fastening, screwing, fitting, etc. can be employed as appropriate.

When the grip-type tool for 6-axis force sensor assembled with these parts is held and operated, the operation force data is sent to the amplifier and CPU via the cable and stored.
Since the gripping part and the working part can be replaced, total data can be collected by preparing according to the types of various work tools necessary for one work.
For example, it is possible to collect all the data necessary for one operation, and to obtain simulator development data. It can also be installed in a haptic interface, which is a telemedicine tool.

A gripping tool for a six-axis force sensor will be described for an example of a surgical knife.
The overall configuration is shown in FIG. 1, and the state connected to the amplifier is shown in FIG. Each component is shown in FIGS.
The first embodiment is a surgical knife type tool type sensor 1. Referring to FIG. 1 as a whole, a handle B serving as a gripping portion is provided on one side of the sensor body A, and a female blade C serving as a working tip is provided on the other side via a handle-side connector D and a tip-side connector E, respectively. Attached. The surgical female type tool type sensor 1 configured as described above is connected to the amplifier 3 by the cable 2 drawn from the sensor main body A.

FIG. 3 shows the sensor body A. The sensor 12 of the six-axis force sensor is accommodated in a recess provided in the sensor mounting block a10, and a sensor mounting block b11 is mounted on the open side thereof. The outer surfaces of the sensor mounting blocks ab10 and 11 are the mounting surfaces of the handle that is the gripping portion and the knife blade portion that is the working portion. The sensor body A has a short cylindrical base, and is provided with a protruding portion for providing the cable connecting portion 13 in the circumferential direction. The thickness of the sensor body A is as thin as about 10 mm. Considering the operability of the tool, the small size is suitable.
FIG. 10 shows a cross-sectional configuration of the sensor mounting block a10. A sensing portion accommodating recess 14 is formed in the base, and a protrusion is provided that forms a cable terminal mounting hole 15 for taking out a cable for taking out a signal from the accommodated sensing body. A circular sensing unit 12 provided with three ribs shown in FIG. 11 is inserted and accommodated in the sensing unit accommodating recess. In addition, these specific shapes are examples and are not limited thereto.

  FIG. 4 shows an example of a surgical knife. This example shows a knife blade portion for a replacement blade having a blade span of about 40 mm and a base portion of about 10 mm and a total length of about 50 mm. Since this shape cannot be directly connected to the sensor body, the base side is cut and partly cut or shaped into a shape suitable for the connector joint. Screw holes for screwing with connectors are also provided. In this example, the cutting edge portion is left as it is.

  FIG. 5 shows a female handle 50 for operation. The material is a flat pattern of a knife for a replacement blade of about 130 mm. The tip side is subjected to cutting 51 such as excision and shaped into a shape suitable for the connector joint. Screw holes for screwing with connectors are provided. The total length after processing is about 100 mm.

  The left and right connection surfaces of the sensor body are shown in FIG. 6ab. FIG. 6a showing the side surface of the sensor main body is a surface of the sensor mounting block b11. In this figure, the surface is basically a flat surface, and two screw holes 16 and 16 for connection are provided in the peripheral portion. . FIG. 6b showing the handle side surface of the sensor main body is a surface of the sensor mounting block a10, which is shown by a partially broken line, and two screw holes 17 and 17 for connection are provided on the peripheral edge.

The blade side connector 20 is shown in FIGS. The blade-side connector 20 is divided into two parts, one of which is shown in a perspective view in FIG. A clamping block piece a21 that includes a flange 22 facing the surface of the sensor mounting block b shown in FIG. 6a and fixes the base of the knife blade of the knife is provided. The flange is provided with two screw holes 24, 24 corresponding to the screw holes 16, 16 provided in the sensor mounting block b. In addition, a rectangular cutout is formed in the center of the flange, and a female rear end positioning hole 23 is provided. The pinching block piece a21 is formed with a concave portion continuous from the edge of the female rear end positioning hole 23, and a screw hole 25 is provided in the concave portion. This pinching block piece a21, in cooperation with the other pinching block piece b28, functions to pinch and fix the knife blade body by inserting the knife rear end into the recess and screwing it.
FIG. 8 shows three surfaces of this flanged one blade side connector: a plan view (a), a side view (b), and a front view (c). 8D and 8E show the other clamping block piece b28 which is the other blade side connector. The other clamping block piece b28 is the clamping block piece b itself for attaching the sensor, and a recess is formed on the remaining edge of the knife rear end positioning hole 23. In this illustration, the sensor mounting block b is not provided with a screw hole in the recess, but may be provided with a screw hole communicating with the target portion.
In addition, screw holes 26, 26, 27, and 27 that can communicate with each other are provided at the corners of the pinching block pieces a and b, and both the pinching block pieces a and b are connected by screws.

The handle 30 is shown in FIG. Similarly to the blade side connector, the handle side connector 30 is divided into two pinching pressures, but one is shown in FIG. 9 and the other is omitted.
A flange 32 facing the surface of the sensor mounting block a10 shown in FIG. 6B is provided. A handle tip positioning hole 33 is formed at the center of the flange 32, and a sensor is provided at the peripheral edge of the flange 32. Two screw holes 35, 35 facing the screw holes 15, 15 formed on the surface of the mounting block a 10 are provided. Further, a concave portion corresponding to the half circumference of the handle tip portion positioning hole 33 is continuously provided on the surface of the sensor mounting block a10, and a screw hole 34 communicating with the concave portion is formed through a screw hole provided on the tip end side of the handle. .
In this example, the thickness of the connector was 6 to 7 mm on both the blade side and the handle side.

Each of these components is assembled into a female-type tool-type sensor shown in FIG.
First, the working tool front end side C, which is a knife blade body, inserts the rear end portion of the knife blade portion 40 into the knife rear end positioning hole 23 provided in one of the blade side connectors 20 so as to hold the clamping block piece. The female cutting part is aligned with the concave part a and screwed together, and the other blade side connector 28 is also screwed together, and the corner of the blade side connector is screwed, so that the female blade part 40 and the connector Complete the bond.
On the other hand, the handle 50 and the handle-side connector 30 are connected by substantially the same procedure.
Thereafter, the connector on the front end side and the connector on the handle side are respectively screwed to the sensor body A to complete the female tool type sensor 1.
Assembly is also possible in the order of connecting the female blade or handle after the connector flange is first screwed to the sensor body.
In this example, a means for screwing each component is used. However, the connecting means is not limited to this, but it is important to obtain accurate data that is firmly processed and connected so that there is no play. is there. Screwing is suitable because the subtle tightening can be adjusted.

The above has described a typical knife. The instrument necessary for the operation is not limited to a knife, and even with a knife as an example, various types of knife and pattern are used as shown in FIG. FIG. 12 is an example of a surgical replacement blade manufactured by Feather Safety Razor Co., Ltd. In addition to those shown here, scalpels corresponding to brain surgery, otolaryngology, ophthalmology and the like are also required.
In accordance with the type of these females, the base of the female and the tip of the handle are cut and processed in combination with the common connector and the connecting part, and are provided as a set.

[Reference example]
As a reference example , a 6-axis force sensor gripping tool related to a writing instrument will be described.
Since most of the writing instruments have a cylindrical shape and a common grip portion can be shared, an example is shown in which a flange serving as a connector is pre-made on the handle side. Writing instrument handle, since the thickness is also different, it is also possible to align several as a standard. Variations such as a rubber cushion for the finger rest can be prepared in the inset type.
On the tip side, there are pencils, ballpoint pens, pens, brushes, and other types. These also basically have a writing part at the tip of a conical shape continuous to the cylinder of the handle. These brush tip portions can be used as connector connecting portions, leaving some cylindrical portions. In the case of a pen that uses a pen tip that is not a fountain pen type attached to the pen shaft, it can be handled by preparing a cylindrical shaft tip in the same manner.
Therefore, in this embodiment, it is proposed that the connector is prepared only on the distal end side and the gripping portion side is fixed to the gripping portion in advance.

FIG. 13 is an exploded perspective view excluding the writing tool tool tip, and FIG. 14 is an assembly view thereof.
A is a sensor main body, and a grip 51 is provided with a flange 51. The distal end side is a distal end side connector 60 provided with a male screw and a flange 61. The sensor body A has the same configuration as that of the first embodiment. Screw connection is used to connect the flange and sensor body.
FIG. 15 shows examples of various pen nibs, which are a pencil 71, a mechanical pen 72, a ballpoint pen 73, a pen 74, and a brush 75. Joining is possible by forming a female screw to be screwed into the male screw of the connector at the rear end of these nibs.
In this joining, the relationship between the male screw and the female screw can be reversed. Further, not only screwing but also a method in which the connector side is a pipe and the pen tip is inserted into the pipe can be employed.
In this example, since it was possible to hold down 13 to 20 mm from the flange of the gripping portion to the tip of the distal end side connector, it is possible to operate a normal writing instrument sufficiently even if the pen tip is secured to 10 to 20 mm.

Further, the gripping part 50 and the connector 60 will be described in detail with reference to FIGS.
FIG. 16A is a front view of the flange of the grip portion 50. Two screw holes for screwing are formed on the peripheral edge of the flange. FIG. 16B is a side view of the grip portion 50, and FIG. In this example, it is hollow so that it approximates the weight of the handle of a normal writing instrument. The length is about 100 mm.
FIG. 17 shows a connector 60 on the pen tip side. (A) is a front view of the flange of the connector 60. FIG. Two screw holes for screwing are formed on the peripheral edge of the flange. (B) is a side view, (c) shows the cross section. In this example, the total length of the connector is 10 mm, but since the male screw portion is 5 mm, about 15 mm becomes a non-repellable portion together with the sensor body, so that sufficient operability can be secured.
By aligning the pen axes common to the plurality of pen tips, it is possible to provide a writing tool type gripping tool for a six-axis force sensor that is rich in variations.

The figure which shows the surgical type | mold tool regarding Example 1 State diagram in which the surgical female tool related to Example 1 is connected to the amplifier Diagram showing sensor body A The figure which shows the example of the blade of the surgical knife The figure which shows the example of the handle of the scalpel for operation Diagram showing the left and right connection surfaces of the sensor body One perspective view of the blade-side connector Diagram showing blade-side connector Figure showing an example of the connector on the handle side Cross section of sensor mounting block The figure which shows the example of the sensor Diagram showing an example of a surgical knife The figure which shows the disassembled perspective view of the writing instrument tool regarding a reference example Reference example Writing tool type tool Diagram showing coupling of sensor body and grip The figure which shows the example of a writing instrument tip part of a reference example The figure which shows the example of the grip part with the connector for writing type tools The figure which shows the example of the tip side connector used for the reference example Diagram showing overall outline

Explanation of symbols

1 surgical type tool type sensor 2 cable 3 amplifier 10 sensor mounting block a
11 Sensor mounting block b
DESCRIPTION OF SYMBOLS 12 Sensing part 13 Cable connection part 14 Sensing part accommodation recessed part 15 Cable terminal attachment hole 16 Screw hole 17 Screw hole 20 Blade side connector 21 Clamping block piece a
22 Flange 23 Female rear end positioning hole 24 Screw hole 25 Screw hole 26 Screw hole 27 Screw hole 28 The other clamping block piece b
30 Handle side connector 32 Flange 33 Handle tip positioning hole 34 Screw hole 35 Screw hole 40 Female blade part 50 Female handle (gripping part) for operation
51 Flange 55 Grip part 60 Tip side connector 61 Flange

Claims (4)

A device used to obtain the operation information using the actual female surgical as force information for the force information or haptic interface for motion capture,
The sensor body A includes a gripping part B that is a handle of an actual surgical knife and a working part C that is a blade part of an actual surgical knife. The gripping part B and the working part C are connected to the sensor body A. A surgical type female-type 6-axis force sensor gripping tool that is detachably attached to the surgical tool,
The sensor body A has a 6-axis force sensor built in the housing, and the housing is detected by a projection for connecting to an external link mechanism for collecting three-dimensional spatial information and a 6-axis force sensor. An information cable for outputting the information is attached, and when the gripping part B is held with fingers and the gripping tool for 6-axis force sensor is operated on the actual object, the working part C or A force acting on the gripping part B is detected by a 6-axis force sensor between the gripping part B and the working part C;
This 6-axis force sensor functions as a force sensor for motion capture or a force sensor for a haptic interface,
The gripping part B and the working part C have a connecting structure that can be attached to and detached from the sensor body A,
The connection structure, the connector D of the gripper B or separately from the working unit C, and a E,
Working unit C gripper B及beauty, depending on the type of work, and a plurality equipped,
A plurality of gripping parts B and work parts C can be replaced with a plurality of manual work tools by providing a common connection structure, and each operation data can be collected.
The connection structure has a flange that is detachably connected to the housing of the sensor main body A in the connectors D and E.
The connector D on the gripping part side and the connector E on the working part side are composed of one block piece having the flange and the other block piece having no flange,
The one block piece is provided with a female rear end positioning hole or a female handle tip positioning hole at the center of the flange, and is provided with a recess that continuously stands from the edge of the positioning hole. The clamping block piece has a recess at a position facing the recess provided in the one clamping block piece, and the rear end of the knife blade or the tip of the knife handle is used as the positioning hole. It has a structure that can be fixed by connecting the block pieces together by accommodating the rear end side of the knife or the handle tip side of the knife in the space where both concave parts are inserted and inserted,
The blade part of the knife and the handle of the knife corresponding to the gripping part B and the working part C provided in the plurality of types are inserted into the concave part of the connector at the proximal end side of the blade part and the distal end side of the knife handle following the knife spanning part. Molded into possible shapes,
A gripping tool for a six-axis force sensor. The gripping tool for a six-axis force sensor according to claim 1, wherein the knife is for surgery . The 6-axis force sensor gripping tool according to claim 1, wherein the scalpel is for otolaryngology . The gripping tool for a six-axis force sensor according to claim 1, wherein the knife is for ophthalmology .