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سی و چهارمین کنفرانس بین المللی مهندسی برق
Estimation of Grasping Force in a Laparoscopic Tool Using a Disturbance Observer
نویسندگان :
Alireza Bayat
1
Ali Sadighi
2
1- دانشگاه تهران
2- دانشگاه تهران
کلمات کلیدی :
disturbance observer،robotic surgery،contact force estimation،Kalman filter،soft tissue
چکیده :
The integration of mechatronics has propelled the growth of minimally invasive surgery (MIS), yet the absence of haptic feedback remains a significant limitation, risking tissue trauma. While force sensing could mitigate this, it is hindered by manufacturing and sterilization challenges. This paper proposes a model-based solution to this problem. We employ a linear disturbance observer to estimate the grasping force in a laparoscopic grasper, modeling soft tissue as a viscoelastic element. Experimental results validate the observer’s effectiveness in accurately reconstructing interaction forces, demonstrating its potential to improve safety and restore tactile realism in robot-assisted MIS.
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بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 44.7.2
