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BY 4.0 license Open Access Published by De Gruyter July 30, 2022

Estimating Gripping Forces During Robot- Assisted Surgery Based on Motor Current

  • Max B. Schäfer EMAIL logo , Johannes G. Meiringer , Julia Nawratil , Lukas Worbs , Giuliano A. Giacoppo and Peter P. Pott


Accurate measurement of interaction forces during robot-assisted surgery requires compact force sensing modalities in the surgical tools, thus might add considerable cost to the setup. Measuring the motor current to estimate gripping forces, is an advantageous approach since no expensive force sensor is needed. In this paper, a mechanical interface is presented, which allows actuating conventional articulated instruments for robot-assisted surgery. The interface features the estimation of static gripping forces at the instrument’s tip based on the motor current. The evaluation shows reproducible results, and the current-based approach seems to be a cost-efficient way to estimate gripping forces.

Published Online: 2022-07-30
Published in Print: 2022-07-01

© 2022 by Walter de Gruyter Berlin/Boston

This work is licensed under the Creative Commons Attribution 4.0 International License.

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