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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Haraguchi, D. Kanno, T. Tadano, K. Kawashima, K. |
| Copyright Year | 1996 |
| Abstract | This paper presents a novel forceps manipulator for surgical robot systems. The forceps manipulator has a highly simplified flexible distal joint, which is actuated by push-pull motions of superelastic wires. Pneumatic cylinders are employed for its driving system to realize high backdrivability of the flexible mechanism, enabling external force estimation without using a force sensor. For the kinematic description, we newly introduce a three-degree-of-freedom (DOF) continuum model considering expansion and contraction of the flexible joint, which allows three-axis force sensing on the forceps tip. We also developed a practical dynamic model, including linear-approximated elastic forces and nonlinear friction forces dependent on the joint bending angle. Effectiveness of the dynamic model is validated by open-loop control performance of the joint angles. The position control system is designed using a PID-based cascade controller with a feedforward compensator based on the dynamic model. Resolution of the joint angle control is 1°, satisfying the requirement for laparoscopic surgery. An external force estimation algorithm is developed, which realizes the three-axis sensing of translational forces acting on the forceps tip. The rigid-link approximation model is also employed to treat the calculation in singular attitude, the straight position of the flexible joint. Effectiveness of the force estimator is experimentally validated using a force sensor in two cases. Estimation error is 0.37 N at maximum with a force in a radial direction, and the estimation performance using the three-DOF force estimator is much better than the one using a conventional two-DOF force estimator. |
| Starting Page | 2950 |
| Ending Page | 2961 |
| Page Count | 12 |
| File Size | 1762106 |
| File Format | |
| ISSN | 10834435 |
| Volume Number | 20 |
| Issue Number | 6 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-01-01 |
| Publisher Place | U.S.A. |
| Access Restriction | One Nation One Subscription (ONOS) |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Joints Manipulators Springs Force Wires Robot sensing systems robot-assisted surgery Flexible joint force estimation forceps manipulator pneumatic drive |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications |
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