Special Section Technical Briefs

Sensorless Force Estimation for a Three Degrees-of-Freedom Motorized Surgical Grasper1

[+] Author and Article Information
Baoliang Zhao, Carl A. Nelson

Department of Mechanical and Materials Engineering,
University of Nebraska-Lincoln,
Lincoln, NE 68588

Accepted and presented at The Design of Medical Devices Conference (DMD2015), April 13–16, 2015, Minneapolis, MN, USA.

Manuscript received March 3, 2015; final manuscript received May 7, 2015; published online July 16, 2015. Editor: Arthur Erdman.

J. Med. Devices 9(3), 030929 (Sep 01, 2015) (3 pages) Paper No: MED-15-1085; doi: 10.1115/1.4030604 History: Received March 03, 2015; Revised May 07, 2015; Online July 16, 2015

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Okamura, A. M., 2009, “Haptic Feedback in Robot-Assisted Minimally Invasive Surgery,” Curr. Opin. Urol., 19(1), pp. 102–107. [CrossRef] [PubMed]
Fischer, G. S., Akinbiyi, T., Saha, S., Zand, J., Talamini, M., Marohn, M., and Taylor, R., 2006, “Ischemia and Force Sensing Surgical Instruments for Augmenting Available Surgeon Information,” 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006), Pisa, Italy, Feb. 20–22, pp. 1030–1035. [CrossRef]
Seibold, U., Kubler, B., and Hirzinger, G., 2005, “Prototype of Instrument for Minimally Invasive Surgery With 6-Axis Force Sensing Capability,” IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain, Apr. 18–22, pp. 496–501. [CrossRef]
Puangmali, P., Althoefer, K., Seneviratne, L. D., Murphy, D., and Dasgupta, P., “State-of-the-Art in Force and Tactile Sensing for Minimally Invasive Surgery,” IEEE Sens. J., 8(4), pp. 371–381. [CrossRef]
Zhao, B., and Nelson, C., 2013, “Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory,” ASME J. Med. Devices, 7(2), p. 020918. [CrossRef]
Zhao, B., and Nelson, C., 2014, “A Cable-Driven Grasper With Decoupled Motion and Forces,” ASME J. Med. Devices, 8(3), p. 030922. [CrossRef]
Zhao, B., and Nelson, C., 2014, “Sensorless Force Estimation for a Motorized Surgical Grasper,” Society of American Gastrointestinal and Endoscopic Surgeons (SAGES) Annual Meeting, Salt Lake City, UT, Apr. 2–5, Paper No. ETP047. http://www.sages.org/meetings/annual-meeting/abstracts-archive/sensorless-force-estimation-for-a-motorized-surgical-grasper/
Bhagat, N. A., 2011, “Sensing and Cancellation of Tremors in Surgeon's Hands During Microsurgery,” M.S. thesis, Indian Institute of Technology, Bombay, Mumbai, India. http://bhagatnikunj.weebly.com/uploads/1/0/4/6/10469153/nikunj_thesis_23_02_2012.pdf


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Fig. 8

Time response for high-frequency periodic input on the grasp DOF

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Fig. 2

Force sensor on shaft [3]

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Fig. 1

Force sensor on jaws [2]

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Fig. 7

Force estimation versus force measurement on yaw DOF

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Fig. 6

Force estimation versus force measurement on pitch DOF

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Fig. 5

Force estimation versus force measurement on grasp DOF

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Fig. 4

Experiment setting of force estimation on (a) grasp, (b) pitch, and (c) yaw

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Fig. 3

Motorized 3DOF: (a) surgical grasper prototype and (b) master robot



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