https://scholars.lib.ntu.edu.tw/handle/123456789/627611
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 JIA-YUSH YEN YUNG-YAW CHEN FENG-LI LIAN MING-CHIH HO |
Keywords: | force control | harmonic dissector | Minimally invasive surgery | modeling | stiffness identification | Issue Date: | 11-Jan-2016 | Source: | CACS 2015 - 2015 CACS International Automatic Control Conference | Abstract: | 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. |
URI: | https://scholars.lib.ntu.edu.tw/handle/123456789/627611 | ISBN: | 9781467365734 | DOI: | 10.1109/CACS.2015.7378371 |
Appears in Collections: | 醫學系 |
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