TY - GEN
T1 - Development of Actively-controllable endoscopic forceps
AU - Sugawara, Keisuke
AU - Ohnishi, Kouhei
PY - 2012/6/4
Y1 - 2012/6/4
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84861624896&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2012.6197041
DO - 10.1109/AMC.2012.6197041
M3 - Conference contribution
AN - SCOPUS:84861624896
SN - 9781457710711
T3 - International Workshop on Advanced Motion Control, AMC
BT - Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
T2 - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
Y2 - 25 March 2012 through 27 March 2012
ER -