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

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

TRIBOLOGY INTERNATIONAL, cilt.100, ss.317-327, 2016 (SCI İndekslerine Giren Dergi) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 100
  • Basım Tarihi: 2016
  • Doi Numarası: 10.1016/j.triboint.2016.03.001
  • Sayfa Sayıları: ss.317-327


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.