Liu, Shih TabgShih TabgLiuLiao, Yo TingYo TingLiaoJIA-YUSH YENYUNG-YAW CHENFENG-LI LIANMING-CHIH HO2023-02-032023-02-032016-01-119781467365734https://scholars.lib.ntu.edu.tw/handle/123456789/627611In 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.force control | harmonic dissector | Minimally invasive surgery | modeling | stiffness identificationconference paper10.1109/CACS.2015.73783712-s2.0-84965047269https://scholars.lib.ntu.edu.tw/handle/123456789/426642