Improvement in the Control Performance of Instruments used for Minimally Invasive Surgery

최소침습술을 위한 의료용 인스트루먼트의 동작 성능 향상

  • Park, Hyeonjun (Department of Transdisciplinary Studies, Seoul National University) ;
  • Won, Jongseok (Department of Transdisciplinary Studies, Seoul National University) ;
  • Park, Jaeheung (Department of Transdisciplinary Studies, Seoul National University)
  • 박현준 (서울대학교 융합과학부) ;
  • 원종석 (서울대학교 융합과학부) ;
  • 박재흥 (서울대학교 융합과학부)
  • Received : 2013.04.02
  • Accepted : 2013.08.27
  • Published : 2013.12.01


This paper presents feedforward controllers to improve the control performance of the motion and grasping force of a surgical instrument used in an MIS (Minimally Invasive Surgery) robot. The surgical instrument has a long distance between the drive motors and its active joints. Therefore, the gripper on the instrument is controlled by a cable drive mechanism, which generates a coupled motion between the wrist joint and the grip direction. In order to solve the problem, this paper analyzes the pulley composition of the surgical instrument and proposes feedforward controllers to eliminate the coupled motion. Furthermore, feedforward controllers to regulate the grasping force are proposed to deal with another coupling problem between the grasping force of the instrument and the motion of the instrument joints. The experimental results demonstrate the improved control performance of the motion and grasping force of the instrument.


MIS (Minimally Invasive Surgery);surgical instrument;tendon driven;grasping force


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