Friction-Model-Based Estimation of Interaction Force of a Surgical RobotFriction-Model-Based Estimation of Interaction Force of a Surgical Robot
This paper reports a method to estimate the interactin force between the surgical robot instrument and the organ tissues. It was found that the main problem of the previous estimation method is the friction inside the surgical robot instrument. Therefore, the friction force model is developed to enhance the estimation accuracy considering the tendon-driven mechanism of the surgical robot instrument.
- Publisher
- ICCAS 2015
- Issue Date
- 2015-10-16
- Language
- English
- Citation
ICCAS 2015 (15th International Conference on Control, Automation and Systems), pp.1503 - 1507
- Appears in Collection
- ME-Conference Papers(학술회의논문)
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