An active force controlled laparoscopic grasper by using a smart material actuation

Koç İ. M. , ERAY T. , SÜMER B., CERCI N.

TRIBOLOGY INTERNATIONAL, vol.100, pp.317-327, 2016 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 100
  • Publication Date: 2016
  • Doi Number: 10.1016/j.triboint.2016.03.001
  • Page Numbers: pp.317-327
  • Keywords: Laparoscopic grasper, Smart material actuation, Force control, MINIMALLY INVASIVE SURGERY, SHAPE-MEMORY ALLOYS, FEEDBACK, DESIGN


The excessive grasper force may lead to irrevocable damage to the tissue in minimally, invasive surgery. This study focuses on grasping mechanism of a laparoscopic surgery tool in order to control the grasping force. First, the dynamics of grasping mechanism of a conventional laparoscopic grasper is investigated using analytical and experimental methods. Then, a smart laparoscopic surgery tool is designed using the shape memory alloy wire with a bias spring. The grasper force is controlled through the actuator by different type of controllers and performance of the controllers are compared. Closed-loop dynamics of the grasper mechanism is achieved with 3.34% overshoot and zero steady state error. (C) 2016 Elsevier Ltd. All rights reserved.