A grip force model for the da Vinci end-effector to predict a compensation force View Full Text


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Article Info

DATE

2015-03

AUTHORS

Chiwon Lee, Yong Hyun Park, Chiyul Yoon, Seungwoo Noh, Choonghee Lee, Youdan Kim, Hee Chan Kim, Hyeon Hoe Kim, Sungwan Kim

ABSTRACT

A torque transfer system (TTS) that measures grip forces is developed to resolve a potential drawback of the current da Vinci robot system whose grip forces vary according to the different postures of its EndoWrist. A preliminary model of EndoWrist Inner Mechanism Model (EIMM) is also developed and validated with real grip force measurements. EndoWrist's grip forces, posture angles, and transferred torque are measured by using TTS. The mean measured grip forces of three different EndoWrist for 27 different postures were very diverse. The EndoWrist exerted different grip forces, with a minimum of 1.84-times more and a maximum of 3.37-times more in specific posture even if the surgeon exerted the same amount of force. Using the posture angles as input and the grip forces as output, the EIMM is constructed. Then, expected grip force values obtained from EIMM are compared with actual measurements of da Vinci EndoWrist to validate the proposed model. From these results, surgeons will be beneficial with the understandings of actual grip force being applied to tissue and mechanical properties of robotic system. The EIMM could provide a baseline in designing a force-feedback system for surgical robot. These are significantly important to prevent serious injury by maintaining a proper force to tissue. More... »

PAGES

253-261

References to SciGraph publications

  • 2012-03. Indirect measurement of pinch and pull forces at the shaft of laparoscopic graspers in MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING
  • 1998-03. Device for measuring the forces exerted on the shaft of an endoscope during colonoscopy in MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING
  • Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/s11517-014-1230-2

    DOI

    http://dx.doi.org/10.1007/s11517-014-1230-2

    DIMENSIONS

    https://app.dimensions.ai/details/publication/pub.1049958840

    PUBMED

    https://www.ncbi.nlm.nih.gov/pubmed/25432526


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