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 | |
| 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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