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

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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.

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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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Acknowledgments

This work was partially supported by the Seoul National University Foundation Research Expense (Grant Number: 800-20100525) and a National Research Foundation of Korea (NRF) Grant funded by the Korean Government (Grant Number: 2012-0001638).

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Authors and Affiliations

  1. The Interdisciplinary Program for Bioengineering, Graduate School, Seoul National University, Seoul, 110-744, Korea

    Chiwon Lee, Chiyul Yoon, Seungwoo Noh & Choonghee Lee

  2. Department of Urology, Seoul National University Hospital, Seoul, 110-744, Korea

    Yong Hyun Park & Hyeon Hoe Kim

  3. Department of Mechanical and Aerospace Engineering, Seoul National University College of Engineering, Seoul, 151-742, Korea

    Youdan Kim

  4. Department of Biomedical Engineering, Institute of Medical and Biological Engineering, Seoul National University, Seoul, 110-799, Korea

    Hee Chan Kim & Sungwan Kim

Authors
  1. Chiwon Lee
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  2. Yong Hyun Park
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  3. Chiyul Yoon
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  4. Seungwoo Noh
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  5. Choonghee Lee
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  6. Youdan Kim
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  7. Hee Chan Kim
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  8. Hyeon Hoe Kim
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  9. Sungwan Kim
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Corresponding author

Correspondence to Sungwan Kim.

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Lee, C., Park, Y.H., Yoon, C. et al. A grip force model for the da Vinci end-effector to predict a compensation force. Med Biol Eng Comput 53, 253–261 (2015). https://doi.org/10.1007/s11517-014-1230-2

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  • DOI: https://doi.org/10.1007/s11517-014-1230-2

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