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JRM Vol.32 No.5 pp. 1000-1009
doi: 10.20965/jrm.2020.p1000
(2020)

Paper:

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Load Reduction Control on Tool-Insertion Port for Laparoscopic Surgical Robot Using Semi-Active Joints

Koki Aizawa*, Daisuke Haraguchi**, and Kotaro Tadano***

*Department of Mechanical Engineering, Tokyo Institute of Technology
4259 Nagatsuta-cho, Midori-ku, Yokohama, Kanagawa 226-8503, Japan

**Department of Mechanical Engineering, National Institute of Technology, Tokyo College
1220-2 Kunugidamachi, Hachiohji, Tokyo 193-0997, Japan

***Institute of Innovative Research, Tokyo Institute of Technology
4259 Nagatsuta-cho, Midori-ku, Yokohama, Kanagawa 226-8503, Japan

Received:
April 14, 2020
Accepted:
August 7, 2020
Published:
October 20, 2020
Creative Commons License
Keywords:
surgical assist robot, laparoscopic surgery, pneumatic drive, semi-active joint, disturbance compensation
Abstract

In robotic surgery, the load exerted on the insertion port in the patient’s abdominal wall due to misalignment of the robot’s remote center of motion and the insertion port or external forces acting on the tip of the forceps during surgery, can not only stress the patient’s body but also increase the friction between the robotic forceps and the trocar, and adversely affect fine surgical manipulations or the accuracy of force estimation. To reduce such loads on the insertion port in robotic surgery, this study proposes a control method for a surgical assist robotic arm with semi-active joints. The control method was implemented on a six-degree-of-freedom pneumatically driven vertical multi-joint robotic arm with a two-axis gimbal joint (two semi-active joints) that only executes torque control, which was previously developed by the authors, and verified through an experiment. The load on the insertion port is reduced by applying torque control on the semi-active joints to compensate for the external forces on the forceps. We constructed a control system that includes a disturbance compensator and conducted a velocity-control experiment by subjecting the forceps constrained by the insertion port to an external force. The results showed that when the torque was compensated for by the semi-active joints, the load on the insertion port was reduced by 65% and 52% when the external force on the tip of the forceps was 0 N and 3 N, respectively.

Surgical robotic arm with semi-active joints

Surgical robotic arm with semi-active joints

Cite this article as:
K. Aizawa, D. Haraguchi, and K. Tadano, “Load Reduction Control on Tool-Insertion Port for Laparoscopic Surgical Robot Using Semi-Active Joints,” J. Robot. Mechatron., Vol.32 No.5, pp. 1000-1009, 2020.
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Last updated on Apr. 19, 2024