Evaluation of Torque Measurement Surrogates as Applied to Grip Torque and Jaw Angle Estimation of Robotic Surgical Tools

The estimation of grip force for surgical tools such as the da Vinci has been shown to be valuable in possible applications such as haptics, tissue identification, and surgical training. Successful estimation attempts have been previously demonstrated, but utilize customized sensors; this letter aim...

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Veröffentlicht in:	IEEE robotics and automation letters 2018-10, Vol.3 (4), p.3027-3034
Hauptverfasser:	O'Neill, John J., Stephens, Trevor K., Kowalewski, Timothy M.
Format:	Artikel
Sprache:	eng
Schlagworte:	AI-based methods Current measurement Estimation Extraterrestrial measurements Grip force medical robots and systems perception for grasping and manipulation Root-mean-square errors Sensors Surgical apparatus & instruments Surgical instruments Surgical robotics: Laparoscopy Torque Torque measurement
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