Grip Force Modeling and Analysis of the End-effector of Minimally Invasive Surgical Instrument

Fen Liu; Nanxing Du; Hongqiang Sang; Shiming Yang

doi:10.16578/j.issn.1004.2539.2021.10.012

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Grip Force Modeling and Analysis of the End-effector of Minimally Invasive Surgical Instrument

Design· Calculation | 更新时间：2022-11-10

- Grip Force Modeling and Analysis of the End-effector of Minimally Invasive Surgical Instrument
- Journal of Mechanical Transmission Vol. 45, Issue 10, Pages: 77-84(2021)
- 作者机构：
  
  1.天津工业大学机械工程学院，天津 300387
  2.天津工业大学工程教学实习训练中心，天津 300387
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.10.012
  CLC：
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刘芬,杜南星,桑宏强等.微创外科手术器械末端执行器夹持力建模与分析[J].机械传动,2021,45(10):77-84.

Liu Fen,Du Nanxing,Sang Hongqiang,et al.Grip Force Modeling and Analysis of the End-effector of Minimally Invasive Surgical Instrument[J].Journal of Mechanical Transmission,2021,45(10):77-84.
刘芬,杜南星,桑宏强等.微创外科手术器械末端执行器夹持力建模与分析[J].机械传动,2021,45(10):77-84. DOI： 10.16578/j.issn.1004.2539.2021.10.012.

Liu Fen,Du Nanxing,Sang Hongqiang,et al.Grip Force Modeling and Analysis of the End-effector of Minimally Invasive Surgical Instrument[J].Journal of Mechanical Transmission,2021,45(10):77-84. DOI： 10.16578/j.issn.1004.2539.2021.10.012.

摘要

针对主从微创外科手术机器人同一主手控制不同手术器械在相同开合角度下的夹持力安全问题，研究了手术器械末端执行器的夹持力，建立了一种求解末端夹持力的数学模型。所建立的模型考虑了钢丝绳与导向轮之间的非线性摩擦、指部与腕部的运动耦合以及钢丝绳在导向轮上的蠕动变形对夹持力的影响，得到了在相应开合角度下电机电流与手术器械末端执行器夹持力之间的映射关系；同时，对缝合针所受夹持力进行了受力分析，得到末端执行器对缝合针的夹持力以及末端执行器对缝合针的拉拔力与电机电流之间的关系。通过Matlab对夹持力模型进行仿真研究，得到手术器械末端执行器在考虑和不考虑摩擦与变形情况下的夹持力变化曲线，特别是得到了对缝合针的夹持力和拉拔力随电流变化的曲线图。仿真结果表明，所建立的夹持力数学模型更贴近实际情况，为后续有效和安全夹持力控制提供了理论依据。

Abstract

Aiming at the safety problem of grip force of the different surgical instruments with the same opening & closing angle in minimally invasive surgical robot，which is controlled by using the same master manipulator，the end-effector grip force of the surgical instrument is studied，a mathematical model is established to solve the end-effector grip force. The influences of the nonlinear friction among the steel cable and the guide pulleys，the motion coupling between the finger and wrist joints，and the creep deformation of the steel cable on the guide pulleys on the grip force are considered in the model. The mapping relationship between the motor current and the end-effector grip force under the corresponding opening & closing angle is obtained. At the same time，the grip force of the clamping suture needle is analyzed，and the relationships of the grip force and the motor current，and the pulling force of the suture needle and the motor current are obtained. The grip force model is simulated and researched by Matlab，the curves of the grip forces with/without friction and creep deformation，and the grip force and the pulling force of the suture needle are especially given. The simulation results show that the mathematical model of the grip force is closer to the actual situation，which provides a theoretical basis for effective and safe grip force control in future.

关键词

手术器械运动耦合夹持力摩擦蠕变

Keywords

Surgical instrumentMotion couplingGrip forceFrictionCreep deformation

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