An active force controlled laparoscopic grasper by using a smart material actuation

被引：10

作者：

Koc, Ilker Murat ^{[1
]}

Eray, Turgay ^{[1
]}

Sumer, Bilsay ^{[2
]}

Cerci, Nurettin ^{[1
]}

机构：

[1] Istanbul Tech Univ, Dept Mech Engn, TR-34437 Istanbul, Turkey

[2] Hacettepe Univ, Dept Mech Engn, TR-06800 Ankara, Turkey

来源：

TRIBOLOGY INTERNATIONAL | 2016年 / 100卷

关键词：

Laparoscopic grasper; Smart material actuation; Force control; MINIMALLY INVASIVE SURGERY; SHAPE-MEMORY ALLOYS; FEEDBACK; DESIGN;

D O I：

10.1016/j.triboint.2016.03.001

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The excessive grasper force may lead to irrevocable damage to the tissue in minimally, invasive surgery. This study focuses on grasping mechanism of a laparoscopic surgery tool in order to control the grasping force. First, the dynamics of grasping mechanism of a conventional laparoscopic grasper is investigated using analytical and experimental methods. Then, a smart laparoscopic surgery tool is designed using the shape memory alloy wire with a bias spring. The grasper force is controlled through the actuator by different type of controllers and performance of the controllers are compared. Closed-loop dynamics of the grasper mechanism is achieved with 3.34% overshoot and zero steady state error. (C) 2016 Elsevier Ltd. All rights reserved.

引用

页码：317 / 327

页数：11

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