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

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 580
  • Download : 0
DC FieldValueLanguage
dc.contributor.authorPark, Suhwanko
dc.contributor.authorKim, Cheongjunko
dc.contributor.authorKim, Su Yongko
dc.contributor.authorLee, Doo Yongko
dc.date.accessioned2018-07-24T02:40:27Z-
dc.date.available2018-07-24T02:40:27Z-
dc.date.created2018-06-08-
dc.date.created2018-06-08-
dc.date.created2018-06-08-
dc.date.created2018-06-08-
dc.date.issued2018-06-
dc.identifier.citationJOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.32, no.6, pp.2817 - 2828-
dc.identifier.issn1738-494X-
dc.identifier.urihttp://hdl.handle.net/10203/244318-
dc.description.abstractWires 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 %.-
dc.languageEnglish-
dc.publisherKOREAN SOC MECHANICAL ENGINEERS-
dc.titleImproved estimation of torque between a surgical instrument and environment in multi-DOF motion-
dc.typeArticle-
dc.identifier.wosid000435920100038-
dc.identifier.scopusid2-s2.0-85048870749-
dc.type.rimsART-
dc.citation.volume32-
dc.citation.issue6-
dc.citation.beginningpage2817-
dc.citation.endingpage2828-
dc.citation.publicationnameJOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY-
dc.identifier.doi10.1007/s12206-018-0538-5-
dc.contributor.localauthorLee, Doo Yong-
dc.description.isOpenAccessN-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorFriction model-
dc.subject.keywordAuthorHaptic feedback-
dc.subject.keywordAuthorSurgical robot-
dc.subject.keywordAuthorTorque estimation-
dc.subject.keywordPlusINVASIVE ROBOTIC SURGERY-
dc.subject.keywordPlusCONTACT FORCE-
dc.subject.keywordPlusFEEDBACK-
dc.subject.keywordPlusSENSOR-
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0