| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an inner force sense detector for detecting only distal end force with high sensitivity. <P>SOLUTION: The detector is provided with: an operation part 20 provided on the tip side of an arm part 40 to be inserted to the inside of an inspection subject B; and a driving part 30 provided on the proximal end side of the arm part 40. The arm part 40 is provided with: an inner tube 50 for housing, in its inside, a driving force transmitting mechanism 60 for transmitting driving force from the side of the driving part 30 to the operation part 20; and an inner force sense detection part 100 which is provided coaxially on the distal end side of the inner tube 50 and to which the deformation of an inner tube 50 is transmitted. The inner force sense detection part 100 is provided with: a fixed part 120 fixed to the outer peripheral wall of the inner tube 50; an engaging part 130 arranged at a position separated in the axial direction from the fixed part 120, engaged with the outer peripheral wall of the inner tube 50 in a direction crossing with the axial direction and engaged movably in the axial direction; a connection part 140 for connecting the fixed part 120 and the engaging part 130 integrally; and deformation gauges 151 to 154 for detecting the amount of deformation of the connection part 140. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
