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- W3089471009 abstract "In this paper, a novel force/torque estimation algorithm for the in-house developed instrument in the robotic-assisted arthroscopic surgery system is proposed. This surgical robot system consists of two parts with 7 degree-of-freedom (DOF) Franka Emika robot for providing 4-DOF Remote Centre of Motion (RCM) about the incision-trocar and an instrument performing bone grinding. The method utilizes Neural Networks (NN) in the Cartesian space to estimate external forces acting on the instrument. The instrument is a rigid-link mechanism attached to the end of the Franka robot by a 6-DOF wrist force sensor. With this proposed method it is possible to obtain force and torque estimation in Cartesian space for any rigid-link wrist mechanism under RCM constraints. Several experiments are performed on an actual robotic system prototype and results show the efficacy of the proposed method." @default.
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- W3089471009 date "2020-12-01" @default.
- W3089471009 modified "2023-10-16" @default.
- W3089471009 title "External Force Estimation on a Robotic Surgical Instrument" @default.
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- W3089471009 doi "https://doi.org/10.1109/icarm49381.2020.9195324" @default.
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