Pneumatically driven surgical forceps displaying a magnified grasping torque.
Journal
The international journal of medical robotics + computer assisted surgery : MRCAS
ISSN: 1478-596X
Titre abrégé: Int J Med Robot
Pays: England
ID NLM: 101250764
Informations de publication
Date de publication:
Apr 2020
Apr 2020
Historique:
received:
28
06
2019
revised:
23
10
2019
accepted:
23
10
2019
pubmed:
12
11
2019
medline:
15
12
2020
entrez:
12
11
2019
Statut:
ppublish
Résumé
Sensing the grasping force and displaying the force for the operator are important for safe operation in robot-assisted surgery. Although robotic forceps that senses the force by force sensors or driving torque of electric motors is proposed, the force sensors and the motors have some problems such as increase in weight and difficulty of the sterilization. We developed a pneumatically driven robotic forceps that estimates the grasping torque and display the magnified torque for the operator. The robotic forceps has a master device and a slave robot, and they are integrated. In the slave side, the grasping torque is estimated by the pressure change in the pneumatic cylinder. A pneumatic bellows display the torque through a linkage. We confirmed that the slave robot follows the motion of the master, and the grasping torque is estimated in the accuracy of 7 mNm and is magnified and displayed for the operator. The pneumatically driven robotic forceps has the capability in the estimation of the grasping torque and display of the torque. Regarding future work, the usability and fatigues of the surgeons must be evaluated.
Sections du résumé
BACKGROUND
BACKGROUND
Sensing the grasping force and displaying the force for the operator are important for safe operation in robot-assisted surgery. Although robotic forceps that senses the force by force sensors or driving torque of electric motors is proposed, the force sensors and the motors have some problems such as increase in weight and difficulty of the sterilization.
METHOD
METHODS
We developed a pneumatically driven robotic forceps that estimates the grasping torque and display the magnified torque for the operator. The robotic forceps has a master device and a slave robot, and they are integrated. In the slave side, the grasping torque is estimated by the pressure change in the pneumatic cylinder. A pneumatic bellows display the torque through a linkage.
RESULTS
RESULTS
We confirmed that the slave robot follows the motion of the master, and the grasping torque is estimated in the accuracy of 7 mNm and is magnified and displayed for the operator.
CONCLUSIONS
CONCLUSIONS
The pneumatically driven robotic forceps has the capability in the estimation of the grasping torque and display of the torque. Regarding future work, the usability and fatigues of the surgeons must be evaluated.
Identifiants
pubmed: 31710158
doi: 10.1002/rcs.2051
pmc: PMC7154778
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
e2051Informations de copyright
© 2019 The Authors. The International Journal of Medical Robotics and Computer Assisted Surgery published by John Wiley & Sons Ltd.
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