SURGICAL ROBOT AND SYSTEM FOR MINIMALLY INVASIVE SURGERY INCLUDING FIBER BRAGG GRATING FORCE SENSOR AND METHOD FOR MEASURING FORCE USING THE SYSTEM

摘要

PURPOSE: A surgical robot for a minimally invasive surgery including an optical fiber bragg gating force sensor, a system thereof, and a force measuring method using the system are provided to prevent organs from being damaged by using a proper force to control the organs. CONSTITUTION: A load cell(203) measures applied force and moment. One joint part is connected to the load cell and has the degree of freedom. A flexure(204) measures an end force applied to the end of the joint part. A plurality of pillars are formed between the load cell and the flexure. A broadband light source inputs light of a broadband to an optical fiber.