Control Evaluation of Antagonistic Series Elastic Actuation for a Robotic Endoscope Joint

作     者：Lorin Fasel Nicolas Gerig Philippe C.Cattin Georg Rauter Lorin Fasel;Nicolas Gerig;Philippe C.Cattin;Georg Rauter

作者机构：BIROMED-LabDepartment of Biomedical EngineeringUniversity of Basel4123AllschwilSwitzerland CIANDepartment of Biomedical EngineeringUniversity of Basel4123AllschwilSwitzerland 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2022年第19卷第4期

页      面：965-974页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：the generous funding by the Werner Siemens Foundation 

主　　题：Minimally invasive surgery RAMIS Robot-assisted surgery Haptic feedback Force control Tendon-driven robotics 

摘      要：Haptic feedback is typically missing during telemanipulation of surgical robots in minimally invasive surgeries,i.e.,surgeons cannot feel the interaction forces between the instruments and ***,surgeons have to solely rely on visual feedback,which increases complexity of guiding the instruments and poses the safety threat of unperceivable contacts outside the field of *** propose a novel series elastic actuation design for articulated robotic endoscopes to overcome these limitations and evaluate an according device with one *** to the actuation of human fingers,the joint is driven by antagonistic *** are integrated in the transmission between the tendons and the motors outside of the endoscope *** estimated the joint angle and thereby the endoscope shape,measured spring deflection,estimated tendon forces from that deflection,and implemented force control for the endoscope *** torque control and impedance control were evaluated under application of both a continuous force and an impact force to the endoscope *** springs reduced impact forces at the tip of the endoscope through their inherent *** the same time,feeding back the estimated force resulted in a stable tendon force control and a tunable endoscope joint control:Zero torque control effectively reduced the external forces,while the endoscope joint showed the expected stiffness in impedance *** results show that antagonistic series elastic actuation is a promising concept for endoscope joint actuation and that it can lead towards safer robot–tissue interactions in surgical robotics.