Development of Actively-controllable endoscopic forceps

Keisuke Sugawara, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An endoscopic forceps is one of the efficient medical device in minimally invasive surgery. However, the endoscopic forceps has two big problems. First is the endoscopic forceps has friction, and it nonlinearly changes depend on posture of the endoscopic forceps. The friction cause deterioration of operation performance. Second is the endoscopic forceps has only 1-DOF for grasping motion. Therefore, in this paper, Actively-controllable endoscopic forceps is developed. This endoscopic forceps has 2-DOF which are for grasping motion and bending motion. By bending motion, the endoscopic forceps can keep or change posture by itself. In addition, friction associated with changing posture of the endoscopic forceps is modeled by least-square method. Finally, the friction models are applied to bilateral control system. Friction of the endoscopic forceps is compensated, and improvement of operational performance is achieved.

Original languageEnglish
Title of host publicationAbstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
DOIs
Publication statusPublished - 2012 Jun 4
Event2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 - Sarajevo, Bosnia and Herzegovina
Duration: 2012 Mar 252012 Mar 27

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
CountryBosnia and Herzegovina
CitySarajevo
Period12/3/2512/3/27

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Development of Actively-controllable endoscopic forceps'. Together they form a unique fingerprint.

  • Cite this

    Sugawara, K., & Ohnishi, K. (2012). Development of Actively-controllable endoscopic forceps. In Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012 [6197041] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2012.6197041