An active force controlled laparoscopic grasper by using a smart material actuation

İlker Murat Koç; Turgay Eray; Bilsay Sümer; Nurettin Çerçi

doi:10.1016/j.triboint.2016.03.001

An active force controlled laparoscopic grasper by using a smart material actuation

İlker Murat Koç^*, Turgay Eray, Bilsay Sümer, Nurettin Çerçi

^*Corresponding author for this work

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

11 Citations (Scopus)

Abstract

The excessive grasper force may lead to irrevocable damage to the tissue in minimally invasive surgery. This study focuses on grasping mechanism of a laparoscopic surgery tool in order to control the grasping force. First, the dynamics of grasping mechanism of a conventional laparoscopic grasper is investigated using analytical and experimental methods. Then, a smart laparoscopic surgery tool is designed using the shape memory alloy wire with a bias spring. The grasper force is controlled through the actuator by different type of controllers and performance of the controllers are compared. Closed-loop dynamics of the grasper mechanism is achieved with 3.34% overshoot and zero steady state error.

Original language	English
Pages (from-to)	317-327
Number of pages	11
Journal	Tribology International
Volume	100
DOIs	https://doi.org/10.1016/j.triboint.2016.03.001
Publication status	Published - 1 Aug 2016

Bibliographical note

Publisher Copyright:
© 2016 Elsevier Ltd

Keywords

Force control
Laparoscopic grasper
Smart material actuation

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10.1016/j.triboint.2016.03.001

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title = "An active force controlled laparoscopic grasper by using a smart material actuation",

abstract = "The excessive grasper force may lead to irrevocable damage to the tissue in minimally invasive surgery. This study focuses on grasping mechanism of a laparoscopic surgery tool in order to control the grasping force. First, the dynamics of grasping mechanism of a conventional laparoscopic grasper is investigated using analytical and experimental methods. Then, a smart laparoscopic surgery tool is designed using the shape memory alloy wire with a bias spring. The grasper force is controlled through the actuator by different type of controllers and performance of the controllers are compared. Closed-loop dynamics of the grasper mechanism is achieved with 3.34% overshoot and zero steady state error.",

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AU - Eray, Turgay

AU - Sümer, Bilsay

AU - Çerçi, Nurettin

PY - 2016/8/1

Y1 - 2016/8/1

N2 - The excessive grasper force may lead to irrevocable damage to the tissue in minimally invasive surgery. This study focuses on grasping mechanism of a laparoscopic surgery tool in order to control the grasping force. First, the dynamics of grasping mechanism of a conventional laparoscopic grasper is investigated using analytical and experimental methods. Then, a smart laparoscopic surgery tool is designed using the shape memory alloy wire with a bias spring. The grasper force is controlled through the actuator by different type of controllers and performance of the controllers are compared. Closed-loop dynamics of the grasper mechanism is achieved with 3.34% overshoot and zero steady state error.

AB - The excessive grasper force may lead to irrevocable damage to the tissue in minimally invasive surgery. This study focuses on grasping mechanism of a laparoscopic surgery tool in order to control the grasping force. First, the dynamics of grasping mechanism of a conventional laparoscopic grasper is investigated using analytical and experimental methods. Then, a smart laparoscopic surgery tool is designed using the shape memory alloy wire with a bias spring. The grasper force is controlled through the actuator by different type of controllers and performance of the controllers are compared. Closed-loop dynamics of the grasper mechanism is achieved with 3.34% overshoot and zero steady state error.

KW - Force control

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KW - Smart material actuation

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VL - 100

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JO - Tribology International

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ER -

An active force controlled laparoscopic grasper by using a smart material actuation

Abstract

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Keywords

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