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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
作者部门机器人学研究室
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
会议录名称Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
出版者IEEE Computer Society
出版地Washington, DC
2016
页码489-494
收录类别EI ; CPCI(ISTP)
EI收录号20163502749601
WOS记录号WOS:000392266900085
产权排序1
ISSN号2155-1774
ISBN号978-1-5090-3287-7
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.
语种英语
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被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19178
专题机器人学研究室
通讯作者Gao AZ(高安柱)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.CISST ERC at Johns Hopkins University, Baltimore, MD, 21218, United States
4.Wilmer Eye Institute, Lohns Hopkins University School of Medicine, Baltimore, MD, 21287, United States
5.Research to Prevent Blindness, New York, United States
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Gao AZ,Gonenc, Berk,Guo, Jiangzhen,et al. 3-DOF force-sensing micro-forceps for robot-Assisted membrane peeling: Intrinsic actuation force modeling[C]. Washington, DC:IEEE Computer Society,2016:489-494.
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