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A modular force‐controlled robotic instrument for minimally invasive surgery – efficacy for being used in autonomous grasping against a variable pull force
Author(s) -
Khadem Seyed Mohsen,
Behzadipour Saeed,
Mirbagheri Alireza,
Farahmand Farzam
Publication year - 2016
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1727
Subject(s) - modular design , computer science , invasive surgery , surgical instrument , simulation , inertia , mean squared error , torque , control theory (sociology) , mechanical engineering , artificial intelligence , surgery , engineering , mathematics , control (management) , physics , medicine , statistics , classical mechanics , operating system , thermodynamics
Background Many deficiencies of minimally invasive robotic surgery systems can be eliminated by using automated laparoscopic tools with force measurement and control capability. Method A fully modular, automated laparoscopic instrument with a proximal force sensory system was designed and fabricated. The efficacy of the instrument was evaluated experimentally when functioning in an autonomous force‐controlled grasping scheme. Results The designed instrument was shown to work easily with standard laparoscopic tools, with the whole distal part detachable for autoclave sterilization. The root mean squared error (RMSE) of the actual pinch force from the target ramp was 0.318 N; it was 0.402 N for a sinusoidal pull force, which dropped by 21% using a static friction compensation. A secure grasping condition was achieved, in spite of this error, by applying a sufficiently large margin from the slip boundary. Conclusions With a simple and practical design, the instrument enjoys affordability, versatility and autoclave sterilizability for clinical usage, with an acceptable performance for being used in an auto‐grasping control scheme. Copyright © 2016 John Wiley & Sons, Ltd.