Design of Adjustable Constant-force Forceps for Robot-Assisted Surgical Manipulation
Force regulation is a challenging task of forceps used for robot-assisted surgical manipulation. To avoid excessive force applied on soft tissues, sophisticated sensors with computerized precise control are often required. Without using additional electronic elements, this paper presents a passive mechanism to maintain a constant contact force between forceps jaw tips and tissues given a pre-specified force magnitude. The mechanism consists of symmetric flexible structures specifically designed to generate a constant torque regardless of input rotation. The constant torque is converted to a constant force through an adjustable lever arm. When the force is further transmitted to jaw tips, it keeps a nearly constant contact force regardless of tissue stiffness and size. After a formulation to find the optimal mechanism configuration, the design is verified by comparing experiment and simulation results. A prototype of the adjustable constant-force forceps is finally illustrated and discussed. The novel forceps is expected to serve as a reliable alternative for robot-assisted surgeries.
Medical robots robot-assisted surgery force sensing compliant mechanism shape design
Chao-Chieh Lan Jung-Yuan Wang
Department of Mechanical Engineering,National Cheng Kung University,No. 1,University Rd.,Tainan,Taiwan
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
386-391
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）