Controlling force variations during soft-tissue grasping.
This paper develops a mechatronic grasper that can be used to investigate a preliminary experiment of a simple model-independent approach to control soft-tissue grasping based on, first, measurement of the total tangential grasp force and, second, discrimination of relaxation and frictional forces by imposing a limited basis set of grasper motions. The main motivation for this work is that tissue grasping is an important component of surgical procedures. However, there is a major criterion which should be achieved: maintaining grasp stability while avoiding damage due to excessive grip force. Thus, the automation of grasping force control requires a controller to apply grasping forces just sufficient to maintain grasp stability. This task is complicated by the serially connected dynamics of grasp friction and tissue relaxation.
Alja'afreh
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Department of Electrical Engineering, Mutah University, Karak, 61710, Jordan. talal_jaafreh@yahoo.com
D000818:Animals; D001011:Aorta / Q000502:physiology*; D017076:Computer-Aided Design; D055119:Elastic Modulus; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005246:Feedback; D066298:In Vitro Techniques; D008846:Micromanipulation / Q000295:instrumentation* / Q000379:methods*; D010812:Physical Stimulation / Q000295:instrumentation* / Q000379:methods*; D015203:Reproducibility of Results; D012680:Sensitivity and Specificity; D013314:Stress, Mechanical; D013552:Swine; D014159:Transducers