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

Access to Document

10.1016/j.triboint.2016.03.001

Cite this

@article{94864867b97e4a3f9b6a4d67329f0366,

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.",

keywords = "Force control, Laparoscopic grasper, Smart material actuation",

author = "Ko{\c c}, \{İlker Murat\} and Turgay Eray and Bilsay S{\"u}mer and Nurettin {\c C}er{\c c}i",

note = "Publisher Copyright: {\textcopyright} 2016 Elsevier Ltd",

year = "2016",

month = aug,

day = "1",

doi = "10.1016/j.triboint.2016.03.001",

language = "English",

volume = "100",

pages = "317--327",

journal = "Tribology International",

issn = "0301-679X",

publisher = "Elsevier Inc.",

}

TY - JOUR

T1 - An active force controlled laparoscopic grasper by using a smart material actuation

AU - Koç, İlker Murat

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

KW - Laparoscopic grasper

KW - Smart material actuation

UR - https://www.scopus.com/pages/publications/85027955618

U2 - 10.1016/j.triboint.2016.03.001

DO - 10.1016/j.triboint.2016.03.001

M3 - Article

AN - SCOPUS:85027955618

SN - 0301-679X

VL - 100

SP - 317

EP - 327

JO - Tribology International

JF - Tribology International

ER -

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

Abstract

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

Cite this