Evaluation of Torque Measurement Surrogates as Applied to Grip Torque and Jaw Angle Estimation of Robotic Surgical Tools
Evaluation of Torque Measurement Surrogates as Applied to Grip Torque and Jaw Angle Estimation of Robotic Surgical Tools
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DOI：
10.1109/lra.2018.2849862
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发表时间：
2018-10-01
影响因子：
5.2
通讯作者：
Kowalewski, Timothy M.
中科院分区：
文献类型：
--
作者：
O'Neill, John J.;Stephens, Trevor K.;Kowalewski, Timothy M.
手术工具（如da芬奇）的夹持力估计已被证明在可能的应用（如触觉、组织识别和手术培训）中很有价值。成功的估计尝试已被证明，但利用定制的传感器，这封信的目的是提供一个估计考虑只有典型的传感器流已经存在于市售手术机器人。本函的目的是评价三种近端扭矩替代方法估计远端状态的能力。将估计值与文献中先前报告的结果进行比较，并报告定制传感器方法与先前标准之间的百分比差异。近端扭矩的最有效替代品是指令电机电流和实测电机电流。颌骨角度估计产生0.37度的均方根误差，远端扭矩估计产生4.42 mNm RMSE，与现有文献方法相比具有优势。
The estimation of grip force for surgical tools such as the da Vinci has been shown to be valuable in possible applications such as haptics, tissue identification, and surgical training. Successful estimation attempts have been previously demonstrated, but utilize customized sensors; this letter aims to provide an estimate considering only typical sensor streams already present in commercially available surgical robots. The objective of this letter is to evaluate three proximal-end torque surrogate methods in their abilities to estimate distal-end states. The estimates are compared with previously reported results found in literature and the percent difference between the customized sensor approach and previous standards is reported. The most effective surrogates for proximal-end torque were commanded motor current and measured motor current. The jaw angle estimate resulted in 0.37 degree root mean square error, and the distal-end torque estimate resulted in 4.42 mNm RMSE, which compares favorably to existing literature approaches.