Development of Actively-controllable endoscopic forceps

Keisuke Sugawara, K. Ohnishi
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引用次数: 0

Abstract

An endoscopic forceps is one of the efficient medical device in minimally invasive surgery. However, the endoscopic forceps has two big problems. First is the endoscopic forceps has friction, and it nonlinearly changes depend on posture of the endoscopic forceps. The friction cause deterioration of operation performance. Second is the endoscopic forceps has only 1-DOF for grasping motion. Therefore, in this paper, Actively-controllable endoscopic forceps is developed. This endoscopic forceps has 2-DOF which are for grasping motion and bending motion. By bending motion, the endoscopic forceps can keep or change posture by itself. In addition, friction associated with changing posture of the endoscopic forceps is modeled by least-square method. Finally, the friction models are applied to bilateral control system. Friction of the endoscopic forceps is compensated, and improvement of operational performance is achieved.
主动可控内镜钳的研制
内镜钳是微创手术中一种高效的医疗器械。然而,内窥镜钳有两个大问题。首先是内窥镜钳有摩擦力,摩擦力随钳位的变化呈非线性变化。摩擦使操作性能恶化。二是内窥镜钳的抓握运动只有1-DOF。因此,本文开发了主动可控的内镜钳。该内窥镜钳具有两自由度,分别用于抓取运动和弯曲运动。通过弯曲运动,内窥镜钳可以自行保持或改变姿势。此外,利用最小二乘法对内镜钳位变化引起的摩擦进行了建模。最后,将摩擦模型应用于双边控制系统。补偿了内窥镜钳的摩擦,提高了操作性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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