Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots

Surgeries or rehabilitation exercises are hazardous tasks for a mechanical system, as the device has to interact with parts of human body without hands-on experience that surgeon physiotherapist acquires over time. For various gynecological laparoscopic surgeries, such hysterectomy pelvic endometriosis, Uterine Manipulators used. These medical devices allow uterus be suitably mobilized. A gap needs filled in terms precise handling this type devices. In sense, manuscript first describes mathematical procedure identify inertial parameters uterine manipulators. needed establish an accurate position and force control electromechanical system assist surgical operations. The method identifying mass center manipulator is based on solution equations static equilibrium rigid solids. Based parameter estimation, paper shows how exerted by can obtained. purpose, it solves matrix composed torques forces manipulator. Different manipulators have been used, verified procedures proposed work us calculate efficient way these