Grasping force estimation for forceps manipulator of laparoscopic surgical robot

- Compensation for load torque generated depending on the bending angle of the tip of the forceps -

Abstract

In the previous study, a grasping force observer (GFO) was proposed to estimate the grasping torque when the forceps manipulator for laparoscopic surgical robot grasped an object. However, when the tip of the forceps manipulator bent, extra load torque occurred due to the bending mechanism. Therefore, in this study, drive parts compensation function in the GFO was modified so that the load torque due to the tip bending is cancelled regardless of the bent state of the tip of the forceps. Using the improved drive parts compensation function, a compensation test for the load torque due to the tip bending was conducted under the condition that no load was added in grasping. As a result of the test, cancellation of the load torque due to the tip bending was verified.