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Dynamic Modeling of Coupled Tendon-Driven System for Surgical Robot Instrument
김지언,이민철,Ryan Blaine Wicker,윤성민 한국정밀공학회 2014 International Journal of Precision Engineering and Vol.15 No.10
This paper is the study of a surgical instrument which directly performs MIS(Minimally Invasive surgery) on a patient, instead of asurgeon. The instrument used in robot assisted laparoscopy adopts a tendon driven mechanism so that it generates hand-like surgicalmotion through aperture of trocar. To create a high DOF of motion in restricted spaces, cable systems for end-effector have beenorganized by serial kinematic chains which can cause interference among joints sharing same axis. Also, to prevent the elongationof any cable, composited and pre-extended cables, which show nonlinear characteristics, are used in surgical instrument tendonsystem. As aforementioned difficulty and complexity, there are not many studies about measuring or estimating the operating forceof instruments without sensors, which is needed for safety but still impossible in commercial systems. This paper derives governinga dynamic model of a coupled cable pulley structure while considering the material tensile characteristics of the cables. The derivedmodel can estimate the operating force on end-effector as well as states of all inner pulleys without encoders. This paper proves theavailability of proposed methodology with comparison of numerical analysis and the experimental test of 2 DOF serial kinematicchained cable pulley link apparatus.