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Improved estimation of torque between a surgical instrument and environment in multi-DOF motion

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Abstract

Wires and pulleys drive instruments attached to a surgical robot. Driving torque of the surgical instrument is measured to estimate the interaction torque between the instrument tip and organ tissues. Friction occurring in the pulleys during torque transmission, however, induces estimation error. Coupling effect in the transmission structure also needs to be resolved for accurate estimation during multidegree- of-freedom motion. This paper proposes a method to reduce the estimation error by employing friction model in the multi-degreeof- freedom motion. The friction model is empirically developed based on analysis of the coupling effect and the characteristics of the driving mechanism. Experiments with right-grip motion in the multi-DOF show that the estimation error is reduced to 7.70 %.

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Authors and Affiliations

  1. Department of Mechanical Engineering, KAIST, Daejeon, Korea

    Suhwan Park, Cheongjun Kim, Suyong Kim & Doo Yong Lee

Authors
  1. Suhwan Park
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  2. Cheongjun Kim
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  3. Suyong Kim
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  4. Doo Yong Lee
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Corresponding author

Correspondence to Doo Yong Lee.

Additional information

Suhwan Park received the B.S. degree from the Department of Mechanical Engineering, Hanyang University, Seoul, Korea in 2014, and the M.S. degree from the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea in 2016. He is currently an Assistant Research Engineer at Production Technology Institute of Samsung Electronics, Hwasung, Korea. His research interests include medical robot, automatic control, and haptic device.

Cheongjun Kim received the B.S. degree from the Department of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea in 2012, and the M.S. degree from the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea in 2014. He is currently a Ph.D. candidate in the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST). His research interests include medical robot, teleoperation, automatic control, and haptic device.

Suyong Kim received the B.S. and M.S. degree from the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea in 2015 and 2017, respectively. He is currently a Ph.D. candidate in the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST). His research interests include medical robot, automatic control, and haptic device.

Doo Yong Lee received the B.S. degree from Department of Control and Instrumentation Engineering, Seoul National University, Korea in 1985. He received the M.S. and Ph.D. degrees from Department of Electrical, Computer, and Systems Engineering, Rensselaer Polytechnic Institute, Troy, New York, U.S.A in 1987 and 1993, respectively. He joined Department of Mechanical Engineering, KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Korea in 1994, and is a Professor. He is currently serving as Head of the department since 2017. He served as Director of Health Technology Infrastructure, Korea Health Industry Development Institute, Korean Ministry of Health and Welfare from 2010 to 2012. He was a postdoctoral research associate at the Information Technology Services, Rensselaer Polytechnic Institute from 1993 to 1994. He served in Korean military from 1987 to 1989. He was a visiting scholar at Osaka University, Japan (1997); Saga University, Japan (2003); and University of California, Irvine, California, U.S.A. (2004- 2005). His research interests include medical robotics and simulation, especially robotic medical devices, and highfidelity interactive medical simulation with haptic interface for training and planning purposes. Prof. Lee received the Charles M. Close Doctoral Prize from Rensselaer Polytechnic Institute (1993); Baek-Am Paper Award from the Korean Society of Mechanical Engineers (KSME, 1999); Young Researcher Paper Award from the Institute of Control, Robotics, and Systems (ICROS, 2002); Franklin V. Taylor Memorial Award from the Institute of Electrical and Electronics Engineers (IEEE) Systems, Man, and Cybernetics Society (2004); Outstanding Paper Award of the International Conference on Control, Automation, and Systems (ICCAS 2007); Outstanding Service Award from the KSME (2012); and Fumio Harashima Mechatronics Award from the ICROS (2015). He is a Senior Member of the IEEE; Member of the Society of Manufacturing Engineers (SME); Vice President of the ICROS; Member of the KSME; and Member of the Korean Society of Medical and Biological Engineering (KOSOMBE). He served as the Vice President of the KSME (2017), and Directors of the ICROS (2007-2011), and the KOSOMBE (2012-2015). Prof. Lee is recently appointed as Editor of the International Journal of Control, Automation, and Systems. He served as Associate Editor of the IEEE Transactions on Systems, Man, and Cybernetics, Part B (2001-2012); and the Journal of Mechanical Science and Technology (2000-2012). He was on the Editorial Board of the Journal of Control, Automation, and Systems Engineering (2001-2003). He was the Organizing Chair and Program Chair of the ICCAS in 2014 and 2008, respectively. He serves in program committees of the international conferences, and technical committees of the IEEE and the International Federation of Automatic Control (IFAC).

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Park, S., Kim, C., Kim, S. et al. Improved estimation of torque between a surgical instrument and environment in multi-DOF motion. J Mech Sci Technol 32, 2817–2828 (2018). https://doi.org/10.1007/s12206-018-0538-5

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  • DOI: https://doi.org/10.1007/s12206-018-0538-5

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