Research on force sensing system for a colonoscopy robot

A force-sensing system for a colonoscopy robot is proposed. It undertakes a modular design, composed of strain gauges. This paper first makes a modeling and simulation analysis of surface deformation for the colonoscopy robot. And then, based on the results of the analysis, the structural design of the sensor is improved. Finally, after designing a pressure sensing and signaling circuit, an experiment done on identifying the sensor parameter is described. The acceptable performances of the force sensing system are verified through experiments.