Accurate measurement of interaction forces during robot-assisted surgery requires compact force sensing modalities in the surgical tools, thus might add considerable cost to the setup. Measuring the motor current to estimate gripping forces, is an advantageous approach since no expensive force sensor is needed. In this paper, a mechanical interface is presented, which allows actuating conventional articulated instruments for robot-assisted surgery. The interface features the estimation of static gripping forces at the instrument’s tip based on the motor current. The evaluation shows reproducible results, and the current-based approach seems to be a cost-efficient way to estimate gripping forces.
%0 Journal Article
%1 SchäferMeiringerNawratilWorbsGiacoppoPott+2022+105+108
%A Schäfer, Max B.
%A Meiringer, Johannes G.
%A Nawratil, Julia
%A Worbs, Lukas
%A Giacoppo, Giuliano A.
%A Pott, Peter P.
%D 2022
%J Current Directions in Biomedical Engineering
%K myown
%N 1
%P 105--108
%R doi:10.1515/cdbme-2022-0027
%T Estimating Gripping Forces During Robot- Assisted Surgery Based on Motor Current
%U https://www.degruyter.com/document/doi/10.1515/cdbme-2022-0027/html
%V 8
%X Accurate measurement of interaction forces during robot-assisted surgery requires compact force sensing modalities in the surgical tools, thus might add considerable cost to the setup. Measuring the motor current to estimate gripping forces, is an advantageous approach since no expensive force sensor is needed. In this paper, a mechanical interface is presented, which allows actuating conventional articulated instruments for robot-assisted surgery. The interface features the estimation of static gripping forces at the instrument’s tip based on the motor current. The evaluation shows reproducible results, and the current-based approach seems to be a cost-efficient way to estimate gripping forces.
@article{SchäferMeiringerNawratilWorbsGiacoppoPott+2022+105+108,
abstract = {Accurate measurement of interaction forces during robot-assisted surgery requires compact force sensing modalities in the surgical tools, thus might add considerable cost to the setup. Measuring the motor current to estimate gripping forces, is an advantageous approach since no expensive force sensor is needed. In this paper, a mechanical interface is presented, which allows actuating conventional articulated instruments for robot-assisted surgery. The interface features the estimation of static gripping forces at the instrument’s tip based on the motor current. The evaluation shows reproducible results, and the current-based approach seems to be a cost-efficient way to estimate gripping forces.},
added-at = {2022-09-11T21:35:49.000+0200},
author = {Schäfer, Max B. and Meiringer, Johannes G. and Nawratil, Julia and Worbs, Lukas and Giacoppo, Giuliano A. and Pott, Peter P.},
biburl = {https://puma.ub.uni-stuttgart.de/bibtex/28e76f825c9352cf39875750cd9cede0e/peterpott},
doi = {doi:10.1515/cdbme-2022-0027},
interhash = {c81724e134a6c04271a9645eea3130e6},
intrahash = {8e76f825c9352cf39875750cd9cede0e},
journal = {Current Directions in Biomedical Engineering},
keywords = {myown},
number = 1,
pages = {105--108},
timestamp = {2022-09-11T19:35:49.000+0200},
title = {Estimating Gripping Forces During Robot- Assisted Surgery Based on Motor Current},
url = {https://www.degruyter.com/document/doi/10.1515/cdbme-2022-0027/html},
volume = 8,
year = 2022
}
