Design of adjustable constant-force forceps for robot-assisted surgical manipulation

Chao Chieh Lan, Jung Yuan Wang

研究成果: Conference contribution

16 引文 斯高帕斯(Scopus)

摘要

Force regulation is a challenging task of forceps used for robot-assisted surgical manipulation. To avoid excessive force applied on soft tissues, sophisticated sensors with computerized precise control are often required. Without using additional electronic elements, this paper presents a passive mechanism to maintain a constant contact force between forceps jaw tips and tissues given a pre-specified force magnitude. The mechanism consists of symmetric flexible structures specifically designed to generate a constant torque regardless of input rotation. The constant torque is converted to a constant force through an adjustable lever arm. When the force is further transmitted to jaw tips, it keeps a nearly constant contact force regardless of tissue stiffness and size. After a formulation to find the optimal mechanism configuration, the design is verified by comparing experiment and simulation results. A prototype of the adjustable constant-force forceps is finally illustrated and discussed. The novel forceps is expected to serve as a reliable alternative for robot-assisted surgeries.

原文English
主出版物標題2011 IEEE International Conference on Robotics and Automation, ICRA 2011
頁面386-391
頁數6
DOIs
出版狀態Published - 2011
事件2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
持續時間: 2011 五月 92011 五月 13

出版系列

名字Proceedings - IEEE International Conference on Robotics and Automation
ISSN(列印)1050-4729

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
國家/地區China
城市Shanghai
期間11-05-0911-05-13

All Science Journal Classification (ASJC) codes

  • 軟體
  • 控制與系統工程
  • 人工智慧
  • 電氣與電子工程

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