Hydraulic forceps system
A hydraulic forceps system includes: robotic forceps whose gripper is opened and closed by utilizing hydraulic pressure of a hydraulic fluid; a pressure sensor that detects a pressure of the hydraulic fluid; and a control device that calculates a current gripping force of the gripper based on the pressure of the hydraulic fluid detected by the pressure sensor; and a monitor that displays the current gripping force.
1. A hydraulic forceps system comprising:
robotic forceps whose gripper is opened and closed by utilizing hydraulic pressure of a hydraulic fluid, the robotic forceps comprising:
a first piston coupled to the gripper;
a first cylinder accommodating the first piston and forming a first pressure chamber together with the first piston, the first pressure chamber being filled with the hydraulic fluid;
a second piston;
a second cylinder accommodating the second piston and forming a second pressure chamber together with the second piston, the second pressure chamber being filled with the hydraulic fluid;
a communication passage through which the first pressure chamber and the second pressure chamber communicate with each other; and
a motor that drives the second piston via a linear motion mechanism,
a pressure sensor that detects a pressure of the hydraulic fluid;
a control device that calculates a current gripping force of the gripper based on the pressure of the hydraulic fluid detected by the pressure sensor;
a monitor that displays the current gripping force, and
a position sensor configured to detect a position of the second piston, wherein
the control device includes:
an observer that derives an estimated position of the first piston based on the pressure of the hydraulic fluid detected by the pressure sensor and the position of the second piston detected by using the position sensor; and
a gripping force calculator that calculates the current gripping force based on the estimated position of the first piston and the pressure of the hydraulic fluid detected by the pressure sensor.
2. The hydraulic forceps system according to claim 1 , wherein
the monitor displays the current gripping force together with an image of an inside of a body of a patient.
3. The hydraulic forceps system according to claim 2 , wherein
the gripping force calculator:
calculates a theoretical gripping force from the pressure of the hydraulic fluid detected by the pressure sensor;
calculates a friction force of a sealing member disposed between the first piston and the first cylinder from the estimated position of the first piston and the pressure of the hydraulic fluid detected by the pressure sensor; and
calculates an estimated gripping force by subtracting the friction force of the sealing member from the theoretical gripping force.
4. The hydraulic forceps system according to claim 3 , wherein
the gripping force calculator calculates the current gripping force by correcting the estimated gripping force in accordance with an orientation of the robotic forceps.
5. The hydraulic forceps system according to claim 2 , wherein
the control device includes an alarm displayer that displays an alarm on the monitor when the current gripping force exceeds a threshold.
6. The hydraulic forceps system according to claim 1 , wherein
the gripping force calculator:
calculates a theoretical gripping force from the pressure of the hydraulic fluid detected by the pressure sensor;
calculates a friction force of a sealing member disposed between the first piston and the first cylinder from the estimated position of the first piston and the pressure of the hydraulic fluid detected by the pressure sensor; and
calculates an estimated gripping force by subtracting the friction force of the sealing member from the theoretical gripping force.
7. The hydraulic forceps system according to claim 6 , wherein
the gripping force calculator calculates the current gripping force by correcting the estimated gripping force in accordance with an orientation of the robotic forceps.
8. The hydraulic forceps system according to claim 7 , wherein
the control device includes an alarm displayer that displays an alarm on the monitor when the current gripping force exceeds a threshold.
9. The hydraulic forceps system according to claim 6 , wherein
the control device includes an alarm displayer that displays an alarm on the monitor when the current gripping force exceeds a threshold.
10. The hydraulic forceps system according to claim 1 , wherein
the control device includes an alarm displayer that displays an alarm on the monitor when the current gripping force exceeds a threshold.