Abstract
The ability to sense external force is an important technique for force feedback, haptics and safe interaction control in minimally-invasive surgical robots (MISRs). Moreover, this ability plays a significant role in the restricting refined surgical operations. The wrist joints of surgical robot end-effectors are usually actuated by several long-distance wire cables. Its two forceps are each actuated by two cables. The scope of force sensing includes multidimensional external force and one-dimensional clamping force. This paper focuses on one-dimensional clamping force sensing method that do not require any internal force sensor integrated in the end-effector’s forceps. A new clamping force estimation method is proposed based on a joint torque disturbance observer (JTDO) for a cable-driven surgical robot end-effector. The JTDO essentially considers the variations in cable tension between the actual cable tension and the estimated cable tension using a Particle Swarm Optimization Back Propagation Neural Network (PSO-BPNN) under free motion. Furthermore, a clamping force estimator is proposed based on the forceps’ JTDO and their mechanical relations. According to comparative analyses in experimental studies, the detection resolutions of collision force and clamping force were 0.11 N. The experimental results verify the feasibility and effectiveness of the proposed clamping force sensing method.
Highlights
In recent years, more and more researchers, companies and hospitals have paid attention to the development, commercial aspects, and application of minimally-invasive surgical robot (MISR)techniques
This paper focuses on one-dimensional clamping force sensing method that do not require any internal force sensors to be integrated into the wrist joints of a surgical robot end-effector
We provide the results from the cable tension estimation model based on the PSO-BPNN under free motion, and the experimental results of clamping force estimation considering collision detection and a clamping action
Summary
More and more researchers, companies and hospitals have paid attention to the development, commercial aspects, and application of minimally-invasive surgical robot (MISR)techniques. More and more researchers, companies and hospitals have paid attention to the development, commercial aspects, and application of minimally-invasive surgical robot (MISR). The advantages of robot-assisted minimally-invasive surgery (MIS) include positioning accuracy, easier realization of MIS, an improved success rate, a reduction in pain, and a reduction in recovery time [1,2]. The capacity to sense force is an important technique for force feedback, haptics, and safe interaction control in MISRs. The capacity to sense force is an important technique for force feedback, haptics, and safe interaction control in MISRs This ability can help to restrict refined operations and improve operational safety [6]. This ability can help surgeons to determine tissue hardness
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