TORQUE SENSOR FOR MEASURING JOINT TORQUE OF MANIPULATOR

摘要

PURPOSE: A torque sensor for measuring the torque of joints of a manipulator for laparoscopic surgery is provided to precisely perform an operation by measuring an exact external torque value so that torsional strain caused by external torque is not applied to an entire beam. CONSTITUTION: A torque sensor(10) for measuring the torque of joints of a manipulator for laparoscopic surgery comprises first and second ring-shaped frames(11, 12), a pair of beams(13), and a strain gauge(14). A pair of the beams is integrally formed with the first and second frames, and installed facing each other. Each beam comprises first and second horizontal portions(131, 133), and a bent portion(132). The first and second horizontal portions are vertically projected from the first and second frames. The bent portion is bent between the ends of the first and second horizontal portions. The strain gage is attached to the bent portion.