Study on Estimation of the Gripping Force of Surgical Instruments Based on the Dynamic Model
The problem of estimating the gripping force of surgical instruments has been the focus of research on minimally invasive surgical robotic surgical instruments. During the minimally invasive surgery, excessive gripping force can cause tissue damage, and too small gripping force can make suture needl...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-04-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.04.006 |
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| _version_ | 1841546926193901568 |
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| author | Liu Fen Liu Jiahao Yun Jintian Sang Hongqiang |
| author_facet | Liu Fen Liu Jiahao Yun Jintian Sang Hongqiang |
| author_sort | Liu Fen |
| collection | DOAJ |
| description | The problem of estimating the gripping force of surgical instruments has been the focus of research on minimally invasive surgical robotic surgical instruments. During the minimally invasive surgery, excessive gripping force can cause tissue damage, and too small gripping force can make suture needles fall off and cause danger. Therefore, it is necessary to study how to estimate the gripping force of surgical instruments. According to the structural characteristics of surgical instruments, a method for estimating gripping force based on dynamic model is proposed. The dynamic model of the surgical instrument, the force and displacement transmission characteristics of the cable driven system and the direct-current motor characteristics are considered in the established model, and the relation between the surgical instrument motor current and the gripping force is obtained. The gripping force model is validated by using Matlab simulation, and the gripping force variation curve of the surgical instrument end-effector with the change of the motor current are obtained. The simulation results show that the gripping force estimation model of the surgical instrument based on the dynamic model is consistent with the actual situation, which provides a theoretical basis for the subsequent research on the gripping force security of the surgical instrument. |
| format | Article |
| id | doaj-art-0cc89f7f6e0241f58e0aeeb0a3acabf5 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-04-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-0cc89f7f6e0241f58e0aeeb0a3acabf52025-01-10T15:00:10ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-04-0148445055345973Study on Estimation of the Gripping Force of Surgical Instruments Based on the Dynamic ModelLiu FenLiu JiahaoYun JintianSang HongqiangThe problem of estimating the gripping force of surgical instruments has been the focus of research on minimally invasive surgical robotic surgical instruments. During the minimally invasive surgery, excessive gripping force can cause tissue damage, and too small gripping force can make suture needles fall off and cause danger. Therefore, it is necessary to study how to estimate the gripping force of surgical instruments. According to the structural characteristics of surgical instruments, a method for estimating gripping force based on dynamic model is proposed. The dynamic model of the surgical instrument, the force and displacement transmission characteristics of the cable driven system and the direct-current motor characteristics are considered in the established model, and the relation between the surgical instrument motor current and the gripping force is obtained. The gripping force model is validated by using Matlab simulation, and the gripping force variation curve of the surgical instrument end-effector with the change of the motor current are obtained. The simulation results show that the gripping force estimation model of the surgical instrument based on the dynamic model is consistent with the actual situation, which provides a theoretical basis for the subsequent research on the gripping force security of the surgical instrument.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.04.006Surgical instrumentDynamic modelCable driveGripping force |
| spellingShingle | Liu Fen Liu Jiahao Yun Jintian Sang Hongqiang Study on Estimation of the Gripping Force of Surgical Instruments Based on the Dynamic Model Jixie chuandong Surgical instrument Dynamic model Cable drive Gripping force |
| title | Study on Estimation of the Gripping Force of Surgical Instruments Based on the Dynamic Model |
| title_full | Study on Estimation of the Gripping Force of Surgical Instruments Based on the Dynamic Model |
| title_fullStr | Study on Estimation of the Gripping Force of Surgical Instruments Based on the Dynamic Model |
| title_full_unstemmed | Study on Estimation of the Gripping Force of Surgical Instruments Based on the Dynamic Model |
| title_short | Study on Estimation of the Gripping Force of Surgical Instruments Based on the Dynamic Model |
| title_sort | study on estimation of the gripping force of surgical instruments based on the dynamic model |
| topic | Surgical instrument Dynamic model Cable drive Gripping force |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.04.006 |
| work_keys_str_mv | AT liufen studyonestimationofthegrippingforceofsurgicalinstrumentsbasedonthedynamicmodel AT liujiahao studyonestimationofthegrippingforceofsurgicalinstrumentsbasedonthedynamicmodel AT yunjintian studyonestimationofthegrippingforceofsurgicalinstrumentsbasedonthedynamicmodel AT sanghongqiang studyonestimationofthegrippingforceofsurgicalinstrumentsbasedonthedynamicmodel |