TY - GEN
T1 - 6-Axis Hybrid Sensing and Estimation of Tip Forces/Torques on a Hyper-Redundant Robotic Surgical Instrument
AU - Yilmaz, Nural
AU - Bazman, Merve
AU - Alassi, Alaa
AU - Gur, Berke
AU - Tumerdem, Ugur
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - In this paper a hybrid method for estimation of 6 degree-of-freedom (DOF) laparoscopic instrument tip force/torques in robotic-assisted minimally invasive surgery systems is proposed. The method is implemented on an in-house developed hyper-redundant (11-DOF) surgical robotic forceps prototype. This surgical robot is composed of two modules with a 7-DOF Kuka IIWA manipulator for performing 4-DOF Remote Centre of Motion (RCM) about the trocar and an articulated 4-DOF parallel wrist/gripper mechanism attached to the distal end of the Kuka robot for intra-corporeal manipulation. The hybrid sensor-based/sensorless method fuses torque estimates from the parallel wrist mechanism with measurements from a force sensor attached between the wrist base and the Kuka tool frame. With this approach it is possible to obtain force/torque estimates on all Cartesian axes (x, y, z, yaw, pitch, roll) of the forceps tip. The prototype is one of the first systems designed for robotic surgery that can achieve accurate force estimation on all 6 axes of the instrument tip. Experiment validation results with a force sensor verify the efficacy of the proposed method.
AB - In this paper a hybrid method for estimation of 6 degree-of-freedom (DOF) laparoscopic instrument tip force/torques in robotic-assisted minimally invasive surgery systems is proposed. The method is implemented on an in-house developed hyper-redundant (11-DOF) surgical robotic forceps prototype. This surgical robot is composed of two modules with a 7-DOF Kuka IIWA manipulator for performing 4-DOF Remote Centre of Motion (RCM) about the trocar and an articulated 4-DOF parallel wrist/gripper mechanism attached to the distal end of the Kuka robot for intra-corporeal manipulation. The hybrid sensor-based/sensorless method fuses torque estimates from the parallel wrist mechanism with measurements from a force sensor attached between the wrist base and the Kuka tool frame. With this approach it is possible to obtain force/torque estimates on all Cartesian axes (x, y, z, yaw, pitch, roll) of the forceps tip. The prototype is one of the first systems designed for robotic surgery that can achieve accurate force estimation on all 6 axes of the instrument tip. Experiment validation results with a force sensor verify the efficacy of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=85081156725&partnerID=8YFLogxK
U2 - 10.1109/IROS40897.2019.8967835
DO - 10.1109/IROS40897.2019.8967835
M3 - Conference contribution
AN - SCOPUS:85081156725
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2990
EP - 2997
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Y2 - 3 November 2019 through 8 November 2019
ER -