TY - GEN
T1 - Tool-tissue force estimation for a 3-DOF robotic surgical tool
AU - Zhao, Baoliang
AU - Nelson, Carl A.
PY - 2015
Y1 - 2015
N2 - Robotic minimally invasive surgery has achieved success in various procedures; however, the lack of haptic feedback is considered by some to be a limiting factor. The typical method to acquire tool-tissue reaction forces is attaching force sensors on surgical tools, but this complicates sterilization and makes the tool bulky. This paper explores the feasibility of using motor current to estimate tool-tissue forces, and demonstrates acceptable results in terms of time delay and accuracy. This sensorless force estimation method sheds new light on the possibility of equipping existing robotic surgical systems with haptic interfaces that require no sensors and are compatible with existing sterilization methods.
AB - Robotic minimally invasive surgery has achieved success in various procedures; however, the lack of haptic feedback is considered by some to be a limiting factor. The typical method to acquire tool-tissue reaction forces is attaching force sensors on surgical tools, but this complicates sterilization and makes the tool bulky. This paper explores the feasibility of using motor current to estimate tool-tissue forces, and demonstrates acceptable results in terms of time delay and accuracy. This sensorless force estimation method sheds new light on the possibility of equipping existing robotic surgical systems with haptic interfaces that require no sensors and are compatible with existing sterilization methods.
UR - http://www.scopus.com/inward/record.url?scp=84973293717&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84973293717&partnerID=8YFLogxK
U2 - 10.1115/DETC2015-46344
DO - 10.1115/DETC2015-46344
M3 - Conference contribution
AN - SCOPUS:84973293717
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 39th Mechanisms and Robotics Conference
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
Y2 - 2 August 2015 through 5 August 2015
ER -