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extended-autograsping-algorithm
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An extended algorithm for autonomous grasping of soft tissues during robotic surgery
, Article International Journal of Medical Robotics and Computer Assisted Surgery ; Volume 16, Issue 5 , 2020 , Pages 1-15 ; Farahmand, F ; Yazdian, S. M ; Mirbagheri, A ; Sharif University of Technology
John Wiley and Sons Ltd
2020
Abstract
Background: Autonomous grasping of soft tissues can facilitate the robotic surgery procedures. The previous attempts for implementing auto-grasping have been based on a simplistic representation of the actual surgery maneuvers. Method: A generalized three-zone grasp model was introduced to consider the effect of the pull force angulation on the grasp mode, that is, damage, slip, or safe grasp. Also, an extended auto-grasping algorithm was proposed in which the trigger force is automatically controlled against the pull force magnitude and direction, to achieve a safe and secure grasp. Results: The autonomous grasping experiments against a varying pull force in a phantom study indicated a good...