Smart Force Sensing in Robot Surgery Utilising the Back Electromotive Force.

Journal: Sensors (Basel, Switzerland)
PMID: 39943416

Abstract

UNLABELLED: Since the introduction of robot-assisted laparoscopic surgery, efforts have been made to incorporate force sensing technologies to monitor critical components and to provide force feedback. The advanced laparoscopic robotic system (AdLap RS) is a robotic platform that aims to make robot technology more sustainable through the use of the fully reusable shaft-actuated tip-articulating (SATA) instruments. The SATA instrument driver features electronics and sensors exposed to the sterile environment, which complicate the sterilisation process. The aim of this study was to develop and validate smart sensing in stepper motors using the back electromotive force in a newly developed Smart SATA Driver (SSD), eliminating the need for sensors in the sterile environment.

Authors

  • Storm Chabot
    Department of BioMechanical Engineering, Delft University of Technology, 2628 CD Delft, The Netherlands.
  • Koen Schouten
    Department of BioMechanical Engineering, Delft University of Technology, 2628 CD Delft, The Netherlands.
  • Bart Van Straten
    Department of BioMechanical Engineering, Delft University of Technology, 2628 CD Delft, The Netherlands.
  • Stefano Pomati
  • Andres Hunt
    Department of Precision and Microsystems Engineering, Delft University of Technology, 2628 CD Delft, The Netherlands.
  • Jenny Dankelman
  • Tim Horeman
    Department of BioMechanical Engineering, Delft University of Technology, 2628 CD Delft, The Netherlands.

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