Force sensing of multiple-DOF cable-driven instruments for minimally invasive robotic surgery

被引：36

作者：

He, Chao ^{[1
]}

Wang, Shuxin ^{[2
]}

Sang, Hongqiang ^{[2
]}

Li, Jinhua ^{[2
]}

Zhang, Linan ^{[2
]}

机构：

[1] Beijing Inst Spacecraft Syst Engn, Beijing, Peoples R China

[2] Tianjin Univ, Key Lab Mech Theory & Equipment Design, Minist Educ, Tianjin 300072, Peoples R China

来源：

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY | 2014年 / 10卷 / 03期

基金：

美国国家科学基金会;

关键词：

force sensing; cable-driven; minimally invasive surgery; instrument; SENSOR;

D O I：

10.1002/rcs.1532

中图分类号：

R61 [外科手术学];

学科分类号：

摘要：

BackgroundForce sensing for robotic surgery is limited by the size of the instrument, friction and sterilization requirements. This paper presents a force-sensing instrument to avoid these restrictions. MethodsOperating forces were calculated according to cable tension. Mathematical models of the force-sensing system were established. A force-sensing instrument was designed and fabricated. A signal collection and processing system was constructed. ResultsThe presented approach can avoid the constraints of space limits, sterilization requirements and friction introduced by the transmission parts behind the instrument wrist. Test results showed that the developed instrument has a 0.03N signal noise, a 0.05N drift, a 0.04N resolution and a maximum error of 0.4N. The validation experiment indicated that the operating and grasping forces can be effectively sensed. ConclusionsThe developed force-sensing system can be used in minimally invasive robotic surgery to construct a force-feedback system. Copyright (c) 2013 John Wiley & Sons, Ltd.

引用

页码：314 / 324

页数：11

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