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A novel 4‐DOF surgical instrument with modular joints and 6‐Axis Force sensing capability
Author(s) -
Li Kun,
Pan Bo,
Zhang Fuhai,
Gao Wenpeng,
Fu Yili,
Wang Shuguo
Publication year - 2017
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.1751
Subject(s) - modular design , computer science , torque , wrist , surgical instrument , mechanism (biology) , simulation , robot , tension (geology) , mechanical engineering , physics , engineering , surgery , artificial intelligence , moment (physics) , medicine , classical mechanics , quantum mechanics , thermodynamics , operating system
Background It is difficult for surgeons to exert appropriate forces during delicate operations due to lack of force feedback in robot‐assisted minimally invasive surgery (RMIS). A 4‐DOF surgical grasper with a modular wrist and 6‐axis force sensing capability is developed. Methods A grasper integrated with a miniature force and torque sensor based on the Stewart platform is designed, and a cable tension decomposition mechanism is designed to alleviate influence of the cable tension to the sensor. A modularized wrist consisting of four joint units is designed to facilitate integration of the sensor and eliminate coupled motion of the wrist. Results Sensing ranges of this instrument are ±10 N and ±160 N mm, and resolutions are 1.2% in radial directions, 5% in axial direction, and 4.2% in rotational directions. An ex vivo experiment shows that this instrument prototype successfully measures the interaction forces. Conclusions A 4‐DOF surgical instrument with modular joints and 6‐axis force sensing capability is developed. This instrument can be used for force feedback in RMIS. Copyright © 2016 John Wiley & Sons, Ltd.