ICRA 2011 Paper Abstract


Paper TuA113.1

Lan, Chao-Chieh (National Cheng Kung University), Wang, Jung-Yuan (National Cheng Kung University)

Design of Adjustable Constant-Force Forceps for Robot-Assisted Surgical Manipulation

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems I" (TuA113), Tuesday, May 10, 2011, 08:20−08:35, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Medical Robots and Systems, Force and Tactile Sensing, Compliant Joint/Mechanism


Force regulation is a challenging task of forceps used for robot-assisted surgical manipulation. To avoid excessive force applied on soft tissues, sophisticated sensors with computerized precise control are often required. Without using additional electronic elements, this paper presents a passive mechanism to maintain a constant contact force between forceps jaw tips and tissues given a pre-specified force magnitude. The mechanism consists of symmetric flexible structures specifically designed to generate a constant torque regardless of input rotation. The constant torque is converted to a constant force through an adjustable lever arm. When the force is further transmitted to jaw tips, it keeps a nearly constant contact force regardless of tissue stiffness and size. After a formulation to find the optimal mechanism configuration, the design is verified by comparing experiment and simulation results. A prototype of the adjustable constant-force forceps is finally illustrated and discussed. The novel forceps is expected to serve as a reliable alternative for robot-assisted surgeries.



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