Improved estimation of torque between a surgical instrument and environment in multi-DOF motion

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Wires and pulleys drive instruments attached to a surgical robot. Driving torque of the surgical instrument is measured to estimate the interaction torque between the instrument tip and organ tissues. Friction occurring in the pulleys during torque transmission, however, induces estimation error. Coupling effect in the transmission structure also needs to be resolved for accurate estimation during multidegree- of-freedom motion. This paper proposes a method to reduce the estimation error by employing friction model in the multi-degreeof- freedom motion. The friction model is empirically developed based on analysis of the coupling effect and the characteristics of the driving mechanism. Experiments with right-grip motion in the multi-DOF show that the estimation error is reduced to 7.70 %.
Publisher
KOREAN SOC MECHANICAL ENGINEERS
Issue Date
2018-06
Language
English
Article Type
Article
Keywords

INVASIVE ROBOTIC SURGERY; CONTACT FORCE; FEEDBACK; SENSOR

Citation

JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.32, no.6, pp.2817 - 2828

ISSN
1738494X
DOI
10.1007/s12206-018-0538-5
URI
http://hdl.handle.net/10203/244318
Appears in Collection
ME-Journal Papers(저널논문)
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