Measuring method for the torque control of instrument in surgical robot
作者： Min Choel Lee , Chi Yen Kim
DOI:
关键词: Reaction 、 Torque 、 Simulation 、 Control engineering 、 Tension (physics) 、 Mechanism (engineering) 、 Load cell 、 Engineering 、 Control (management) 、 Pulley 、 Mode (computer interface)
摘要: The surgical robot instruments conduct an operation in the body on behalf of surgeon's hands. However working inside a prohibits attaching electronic sensors addition to space restriction. Therefore, all commercial robots are only operated position control mode becuase there is no way measure force at instrument. system has some problem grasping. To build controllable instrument system, this paper proposes torque measuring mechanism indirectly using reaction force. proposed estimates grasping from against driving motor by load-cell. mounted movable platform which push load cell according tension arisen
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