|Title:||Improvement of harmonic dissector for minimal invasive surgery, modeling and the stiffness identification of the clipped object||Authors:||Liu, Shih Tabg
Liao, Yo Ting
|Keywords:||force control | harmonic dissector | Minimally invasive surgery | modeling | stiffness identification||Issue Date:||11-Jan-2016||Source:||2015 CACS International Automatic Control Conference||Abstract:||
© 2015 IEEE. In this paper, the modeling for the harmonic dissector in minimal invasive surgery (MIS) is proposed. This model is the series connection of a mass-spring-damper system and a nonlinear system. The former is based on the mechanical property of the dissector, and the latter is in the fundamental of the hysteresis description of the piezo-actuator, which is the driving part of the dissector. In addition, based on hysteresis compensation and force control, this paper also proposed a method which can be used to identify the stiffness of the object which is clipped by the dissector. In terms of the stiffness identification, this paper only introduces a theoretical approach. As for the experimental validation, it will be carried out in the future work.
|Appears in Collections:||醫學系|
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