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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Fig. 1

Force sensor on jaws [2]

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Fig. 2

Force sensor on shaft [3]

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Fig. 3

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

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Fig. 4

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

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Fig. 5

Force estimation versus force measurement on grasp DOF

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Fig. 6

Force estimation versus force measurement on pitch DOF

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Fig. 7

Force estimation versus force measurement on yaw DOF

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Fig. 8

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




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