| 摘要 |
<p>The purpose of the present invention is to provide a novel external force estimation device and forceps system. This external force estimation device has a detection unit for detecting the amount of change in length of an elastic member deformed by external force, and a calculation unit for using the amount of change to calculate the external force. Here, preferably, the calculation unit calculates a three-axis component of the external force. Preferably, a wire is used to detect the amount of change. Preferably, the detection unit comprises a position sensor. Preferably, the amount of change in an elastic joint is detected. Also, this forceps system includes the external force estimation device.</p> |
