JP7409630B2 - 力覚検出体、力覚検出ブロック、力覚検出体の製造方法、力覚検出ブロックの製造方法 - Google Patents
力覚検出体、力覚検出ブロック、力覚検出体の製造方法、力覚検出ブロックの製造方法 Download PDFInfo
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Claims (7)
- 所定の厚さの壁で構成される中空チューブと応力センサとを備えた力覚検出体であって、線上に連なる該応力センサを該壁内であって且つ内壁の近傍に該中空チューブの所定の方向へ配置したことを特徴とする力覚検出体。
- 請求項1記載の力覚検出体において、前記所定の方向は前記中空チューブの長軸方向に沿う方向又は該中空チューブの円周に巻付ける方向であることを特徴とする力覚検出体。
- 請求項1又は2記載の力覚検出体において、前記中空チューブ及び前記応力センサはフレキシブルな材質であることを特徴とする力覚検出体。
- 請求項1から3のいずれか一項に記載の力覚検出体において、前記中空チューブ及び前記応力センサは透明又は半透明な素材で成形されたことを特徴とする力覚検出体。
- 請求項1から4のいずれか一項に記載の力覚検出体の周囲を前記中空チューブと同じ素材の材料で所定の形状に成形したことを特徴とする力覚検出ブロック。
- 請求項1から4のいずれか一項に記載の力覚検出体の製造方法であって、
前記中空チューブと同じ径及び長軸方向の長さを有する芯棒の外面に、該中空チューブと同じ材質又は素材の材料をコーティングする第1コーティング工程と、
前記線上に連なる応力センサを、前記第1コーティング工程後の前記芯棒の所定の位置に所定の方向へ設置するセンサ設置工程と、
前記センサ設置工程後の前記芯棒の外面に、前記中空チューブと同じ材質又は素材の材料をコーティングする第2コーティング工程と、
前記第2コーティング工程後の成形物から前記芯棒を抜去する芯棒抜去工程とを備えたことを特徴とする力覚検出体の製造方法。 - 請求項5記載の力覚検出ブロックの製造方法であって、請求項6記載の力覚検出体の製造方法における前記第2コーティング工程を、
前記センサ設置工程後の前記芯棒を、前記中空チューブと同じ材質又は素材の材料を入れた前記所定の形状の容器内に漬けて該材料をコーティングする第2コーティング工程と替えて力覚検出体の製造方法を用いることを特徴とする力覚検出ブロックの製造方法。
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JPH06190050A (ja) * | 1992-12-22 | 1994-07-12 | Mitsubishi Cable Ind Ltd | 触覚機能を具備する体内挿入用医療器具 |
JPH09135906A (ja) * | 1995-11-17 | 1997-05-27 | Tokai Rika Co Ltd | 体内挿入式医療器具用のセンサ |
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