Medical & Biological Engineering & Computing

, Volume 53, Issue 3, pp 253–261 | Cite as

A grip force model for the da Vinci end-effector to predict a compensation force

  • Chiwon Lee
  • Yong Hyun Park
  • Chiyul Yoon
  • Seungwoo Noh
  • Choonghee Lee
  • Youdan Kim
  • Hee Chan Kim
  • Hyeon Hoe Kim
  • Sungwan Kim
Original Article

Abstract

A torque transfer system (TTS) that measures grip forces is developed to resolve a potential drawback of the current da Vinci robot system whose grip forces vary according to the different postures of its EndoWrist. A preliminary model of EndoWrist Inner Mechanism Model (EIMM) is also developed and validated with real grip force measurements. EndoWrist’s grip forces, posture angles, and transferred torque are measured by using TTS. The mean measured grip forces of three different EndoWrist for 27 different postures were very diverse. The EndoWrist exerted different grip forces, with a minimum of 1.84-times more and a maximum of 3.37-times more in specific posture even if the surgeon exerted the same amount of force. Using the posture angles as input and the grip forces as output, the EIMM is constructed. Then, expected grip force values obtained from EIMM are compared with actual measurements of da Vinci EndoWrist to validate the proposed model. From these results, surgeons will be beneficial with the understandings of actual grip force being applied to tissue and mechanical properties of robotic system. The EIMM could provide a baseline in designing a force-feedback system for surgical robot. These are significantly important to prevent serious injury by maintaining a proper force to tissue.

Keywords

Surgical instruments Laparoscopy da Vinci end-effector Grip force modeling Compensation force 

Abbreviations

TTS

Torque transfer system

EIMM

EndoWrist Inner Mechanism Model

NI

National instruments

PF

Prograsp forceps

PDF

PK dissecting forceps

LND

Large needle driver

SD

Standard deviation

CT

Coupled terms

HOT

High-order term

MGF

Mean grip force

SEM

Standard error of measurement

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Copyright information

© International Federation for Medical and Biological Engineering 2014

Authors and Affiliations

  • Chiwon Lee
    • 1
  • Yong Hyun Park
    • 2
  • Chiyul Yoon
    • 1
  • Seungwoo Noh
    • 1
  • Choonghee Lee
    • 1
  • Youdan Kim
    • 3
  • Hee Chan Kim
    • 4
  • Hyeon Hoe Kim
    • 2
  • Sungwan Kim
    • 4
  1. 1.The Interdisciplinary Program for Bioengineering, Graduate SchoolSeoul National UniversitySeoulKorea
  2. 2.Department of UrologySeoul National University HospitalSeoulKorea
  3. 3.Department of Mechanical and Aerospace EngineeringSeoul National University College of EngineeringSeoulKorea
  4. 4.Department of Biomedical Engineering, Institute of Medical and Biological EngineeringSeoul National UniversitySeoulKorea

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