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http://dx.doi.org/10.5302/J.ICROS.2013.13.1904

Improvement in the Control Performance of Instruments used for Minimally Invasive Surgery  

Park, Hyeonjun (Department of Transdisciplinary Studies, Seoul National University)
Won, Jongseok (Department of Transdisciplinary Studies, Seoul National University)
Park, Jaeheung (Department of Transdisciplinary Studies, Seoul National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.12, 2013 , pp. 1160-1166 More about this Journal
Abstract
This paper presents feedforward controllers to improve the control performance of the motion and grasping force of a surgical instrument used in an MIS (Minimally Invasive Surgery) robot. The surgical instrument has a long distance between the drive motors and its active joints. Therefore, the gripper on the instrument is controlled by a cable drive mechanism, which generates a coupled motion between the wrist joint and the grip direction. In order to solve the problem, this paper analyzes the pulley composition of the surgical instrument and proposes feedforward controllers to eliminate the coupled motion. Furthermore, feedforward controllers to regulate the grasping force are proposed to deal with another coupling problem between the grasping force of the instrument and the motion of the instrument joints. The experimental results demonstrate the improved control performance of the motion and grasping force of the instrument.
Keywords
MIS (Minimally Invasive Surgery); surgical instrument; tendon driven; grasping force;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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