Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Estimation of Vertical Interaction Force to the End of a Surgical Instrument by Measuring Reaction Force to the Trocar Support

트로카 고정부에 작용하는 반력을 측정하여 수술도구 말단의 수직방향 상호작용 힘을 추정하는 방법

  • Kim, Suyong (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Kim, Cheongjun (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Lee, Doo Yong (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
  • Received : 2016.05.20
  • Accepted : 2016.07.18
  • Published : 2016.08.01
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Abstract

This paper proposes a method to estimate vertical interaction force to the end of the surgical instrument by measuring reaction force at the part supporting the trocar. Relation between the force to the trocar and the interaction force is derived using the beam theory. The vertical interaction force is modeled as a function of the reaction force to the trocar and the distance between the drape plate and the trocar. Experimental results show that error is induced by the asymmetric shape of the trocar tip because contact position between the instrument and the trocar tip is changed depending on the direction of the interaction force. The theoretical relation, therefore, is compensated and reduced. Average $L_2$ relative error of the estimated force in the x-direction and the y-direction is 5.81 % and 5.99 %, respectively.

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References

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