Estimation of vertical interaction force to the end of a surgical instrument by measuring reaction force to the trocar support 트로카 고정부에 작용하는 반력을 측정하여 수술도구 말단의수직방향 상호작용 힘을 추정하는 방법

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This paper proposes a method to estimate vertical interaction force to the end of the surgical instrument by measuring reaction force at the part supporting the trocar. Relation between the force to the trocar and the interaction force is derived using the beam theory. The vertical interaction force is modeled as a function of the reaction force to the trocar and the distance between the drape plate and the trocar. Experimental results show that error is induced by the asymmetric shape of the trocar tip because contact position between the instrument and the trocar tip is changed depending on the direction of the interaction force. The theoretical relation, therefore, is compensated and reduced. Average L2 relative error of the estimated force in the x-direction and the y-direction is 5.81 % and 5.99 %, respectively.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2016-08
Language
Korean
Citation

Journal of Institute of Control, Robotics and Systems, v.22, no.8, pp.615 - 618

ISSN
1976-5622
DOI
10.5302/J.ICROS.2016.16.0114
URI
http://hdl.handle.net/10203/213807
Appears in Collection
ME-Journal Papers(저널논문)
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