Cargando…
Position Control and Force Estimation Method for Surgical Forceps Using SMA Actuators and Sensors
Minimally invasive surgery is increasingly used in many medical operations because of the benefits for the patients. However, for the surgeons, accessing the situs through a small incision or natural orifice comes with a reduction of the degrees of freedom of the instrument. Due to friction of the m...
Autores principales: | , , , , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8434184/ https://www.ncbi.nlm.nih.gov/pubmed/34501197 http://dx.doi.org/10.3390/ma14175111 |
_version_ | 1783751538140774400 |
---|---|
author | Braun, Dennis Weik, David Elsner, Sophia Hunger, Sandra Werner, Michael Drossel, Welf-Guntram |
author_facet | Braun, Dennis Weik, David Elsner, Sophia Hunger, Sandra Werner, Michael Drossel, Welf-Guntram |
author_sort | Braun, Dennis |
collection | PubMed |
description | Minimally invasive surgery is increasingly used in many medical operations because of the benefits for the patients. However, for the surgeons, accessing the situs through a small incision or natural orifice comes with a reduction of the degrees of freedom of the instrument. Due to friction of the mechanical coupling, the haptic feedback lacks sensitivity that could lead to damage of the tissue. The approach of this work to overcome these problems is to develop a control concept for position control and force estimation with shape memory alloys (SMA) which could offer haptic feedback in a novel handheld instrument. The concept aims to bridge the gap between manually actuated laparoscopic instruments and surgical robots. Nickel-titanium shape memory alloys are used for actuation because of their high specific energy density. The work includes the manufacturing of a functional model as a proof of concept comprising the development of a suitable forceps mechanism and electronic circuit for position control and gripping force measurement, as well as designing an ergonomic user interface with haptic force feedback. |
format | Online Article Text |
id | pubmed-8434184 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-84341842021-09-12 Position Control and Force Estimation Method for Surgical Forceps Using SMA Actuators and Sensors Braun, Dennis Weik, David Elsner, Sophia Hunger, Sandra Werner, Michael Drossel, Welf-Guntram Materials (Basel) Article Minimally invasive surgery is increasingly used in many medical operations because of the benefits for the patients. However, for the surgeons, accessing the situs through a small incision or natural orifice comes with a reduction of the degrees of freedom of the instrument. Due to friction of the mechanical coupling, the haptic feedback lacks sensitivity that could lead to damage of the tissue. The approach of this work to overcome these problems is to develop a control concept for position control and force estimation with shape memory alloys (SMA) which could offer haptic feedback in a novel handheld instrument. The concept aims to bridge the gap between manually actuated laparoscopic instruments and surgical robots. Nickel-titanium shape memory alloys are used for actuation because of their high specific energy density. The work includes the manufacturing of a functional model as a proof of concept comprising the development of a suitable forceps mechanism and electronic circuit for position control and gripping force measurement, as well as designing an ergonomic user interface with haptic force feedback. MDPI 2021-09-06 /pmc/articles/PMC8434184/ /pubmed/34501197 http://dx.doi.org/10.3390/ma14175111 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Braun, Dennis Weik, David Elsner, Sophia Hunger, Sandra Werner, Michael Drossel, Welf-Guntram Position Control and Force Estimation Method for Surgical Forceps Using SMA Actuators and Sensors |
title | Position Control and Force Estimation Method for Surgical Forceps Using SMA Actuators and Sensors |
title_full | Position Control and Force Estimation Method for Surgical Forceps Using SMA Actuators and Sensors |
title_fullStr | Position Control and Force Estimation Method for Surgical Forceps Using SMA Actuators and Sensors |
title_full_unstemmed | Position Control and Force Estimation Method for Surgical Forceps Using SMA Actuators and Sensors |
title_short | Position Control and Force Estimation Method for Surgical Forceps Using SMA Actuators and Sensors |
title_sort | position control and force estimation method for surgical forceps using sma actuators and sensors |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8434184/ https://www.ncbi.nlm.nih.gov/pubmed/34501197 http://dx.doi.org/10.3390/ma14175111 |
work_keys_str_mv | AT braundennis positioncontrolandforceestimationmethodforsurgicalforcepsusingsmaactuatorsandsensors AT weikdavid positioncontrolandforceestimationmethodforsurgicalforcepsusingsmaactuatorsandsensors AT elsnersophia positioncontrolandforceestimationmethodforsurgicalforcepsusingsmaactuatorsandsensors AT hungersandra positioncontrolandforceestimationmethodforsurgicalforcepsusingsmaactuatorsandsensors AT wernermichael positioncontrolandforceestimationmethodforsurgicalforcepsusingsmaactuatorsandsensors AT drosselwelfguntram positioncontrolandforceestimationmethodforsurgicalforcepsusingsmaactuatorsandsensors |