Quasi-Static Modeling of the da Vinci Instrument

被引：0

作者：

Anooshahpour, Farshad ^{[1
]}

Polushin, Ilia G. ^{[1
]}

Patel, Rajni V. ^{[1
]}

机构：

[1] Western Univ, Dept Elect & Comp Engn, London, ON N6A 5B9, Canada

来源：

2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014) | 2014年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Two simplified quasi-static models for the da Vinci instrument are proposed which take into account distributed frictions and compliance of the tendons. These models are derived from static analysis of the interaction of the tendons with a curved surface. The key parameters of the models are identified, and the performance of the models is experimentally evaluated. Experimental results obtained suggest that a weighted combination of the outputs of the two models provides a sufficiently close estimate of the output torque of the da Vinci instrument.

引用

页码：1308 / 1313

页数：6

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