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

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

*Bu çalışma için yazışmadan sorumlu yazar

Araştırma sonucu: ???type-name???Makalebilirkişi

11 Atıf (Scopus)

Özet

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.

Orijinal dilİngilizce
Sayfa (başlangıç-bitiş)317-327
Sayfa sayısı11
DergiTribology International
Hacim100
DOI'lar
Yayın durumuYayınlandı - 1 Ağu 2016

Bibliyografik not

Publisher Copyright:
© 2016 Elsevier Ltd

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