Grip Force Modeling and Analysis of the End-effector of Minimally Invasive Surgical Instrument
Aiming at the safety problem of grip force of the different surgical instruments with the same opening & closing angle in minimally invasive surgical robot，which is controlled by using the same master manipulator，the end-effector grip force of the surgical instrument is studied，a mathematica...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2021-10-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.10.012 |
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| Summary: | Aiming at the safety problem of grip force of the different surgical instruments with the same opening & closing angle in minimally invasive surgical robot，which is controlled by using the same master manipulator，the end-effector grip force of the surgical instrument is studied，a mathematical model is established to solve the end-effector grip force. The influences of the nonlinear friction among the steel cable and the guide pulleys，the motion coupling between the finger and wrist joints，and the creep deformation of the steel cable on the guide pulleys on the grip force are considered in the model. The mapping relationship between the motor current and the end-effector grip force under the corresponding opening & closing angle is obtained. At the same time，the grip force of the clamping suture needle is analyzed，and the relationships of the grip force and the motor current，and the pulling force of the suture needle and the motor current are obtained. The grip force model is simulated and researched by Matlab，the curves of the grip forces with/without friction and creep deformation，and the grip force and the pulling force of the suture needle are especially given. The simulation results show that the mathematical model of the grip force is closer to the actual situation，which provides a theoretical basis for effective and safe grip force control in future. |
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| ISSN: | 1004-2539 |