3-DOF force-sensing micro-forceps for robot-Assisted membrane peeling: Intrinsic actuation force modeling

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	3-DOF force-sensing micro-forceps for robot-Assisted membrane peeling: Intrinsic actuation force modeling
	Gao AZ(高安柱); Gonenc, Berk; Guo, Jiangzhen; Liu H(刘浩); Gehlbach, Peter; Iordachita, Iulian
	2016
会议名称	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
会议日期	June 26-29, 2016
会议地点	Singapore, Singapore
页码	489-494
通讯作者	高安柱
中文摘要	Membrane peeling is a challenging procedure in retinal microsurgery, requiring careful manipulation of delicate tissues by using a micro-forceps and exerting very fine forces that are mostly imperceptible to the surgeon. Previously, we developed a micro-forceps with three integrated fiber Bragg grating (FBG) sensors to sense the lateral forces at the instrument's tip. However, importantly this architecture was insufficient to sense the tissue pulling forces along the forceps axis, which may be significant during membrane peeling. Our previous 3-DOF force sensing solutions developed for pick tools are not appropriate for forceps tools due to the motion and intrinsic forces that develop while opening/closing the forceps jaws. This paper presents a new design that adds another FBG attached to the forceps jaws to measure the axial loads. This involves not only the external tool-To-Tissue interactions that we need to measure, but also the adverse effect of intrinsic actuation forces that arise due to the elastic deformation of jaws and friction. In this study, through experiments and finite element analyses, we model the intrinsic actuation force. We investigate the effect of the coefficient of friction and material type (stainless steel, titanium, nitinol) on this model. Then, the obtained model is used to separate the axial tool-To-Tissue forces from the raw sensor measurements. Preliminary experiments and simulation results indicate that the developed linear model based on the actuation displacement is feasible to accurately predict the axial forces at the tool tip.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
会议录出版者	IEEE Computer Society
会议录出版地	Washington, DC
语种	英语
ISSN号	2155-1774
ISBN号	978-1-5090-3287-7
WOS记录号	WOS:000392266900085
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/19178]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Gao AZ,Gonenc, Berk,Guo, Jiangzhen,et al. 3-DOF force-sensing micro-forceps for robot-Assisted membrane peeling: Intrinsic actuation force modeling[C]. 见:6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. Singapore, Singapore. June 26-29, 2016.