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Related Concept Videos

Back EMF01:24

Back EMF

2.7K
Generators convert mechanical energy into electrical energy, whereas motors convert electrical energy into mechanical energy. A motor works by sending a current through a loop of wire located in a magnetic field. As a result, the magnetic field exerts a torque on the loop. This rotates a shaft, extracting mechanical work from the electrical current sent in initially. When the coil of a motor is turned, magnetic flux changes through the coil, and an emf (consistent with Faraday's law) is...
2.7K

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Related Experiment Video

Updated: May 28, 2025

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique
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Smart Force Sensing in Robot Surgery Utilising the Back Electromotive Force.

Storm Chabot1, Koen Schouten1, Bart Van Straten1

  • 1Department of BioMechanical Engineering, Delft University of Technology, 2628 CD Delft, The Netherlands.

Sensors (Basel, Switzerland)
|February 13, 2025
PubMed
Summary

This study developed a Smart SATA Driver (SSD) for robot-assisted surgery, using back electromotive force (back EMF) to estimate tool-tissue forces. This method shows promise for low-cost force feedback in laparoscopic instruments.

Keywords:
back electromotive forceforce feedbacklaparoscopyrobotic surgerysmart force sensing

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Area of Science:

  • Robotics
  • Surgical Technology
  • Biomedical Engineering

Background:

  • Robot-assisted surgery requires precise force sensing for safety and efficacy.
  • Current laparoscopic robotic systems face challenges with sensor sterilization and cost.
  • The Advanced Laparoscopic Robotic System (AdLap RS) utilizes reusable Shaft-Actuated Tip-Articulating (SATA) instruments, but their drivers complicate sterilization.

Purpose of the Study:

  • To develop and validate smart sensing in stepper motors using back electromotive force (back EMF) within a novel Smart SATA Driver (SSD).
  • To eliminate the need for sensors within the sterile environment of laparoscopic instruments.
  • To enable a low-cost method for estimating tool-tissue forces in robot-assisted surgery.

Main Methods:

  • Stepper drivers were integrated with TMC2209 ICs featuring StallGuard technology to measure back EMF.
  • Tip actuation was performed until a set StallGuard threshold was reached, with corresponding tip force measurements.
  • Regression analysis using a power series model was employed to assess the correlation between StallGuard values and tip forces.

Main Results:

  • The Smart SATA Driver (SSD) demonstrated the capability to exert tip forces ranging from 2.4 N to 8.2 N.
  • A strong correlation (R-squared = 0.95) was observed between StallGuard values and measured tip forces.
  • The root mean squared error was determined to be 0.4 N, indicating good accuracy.

Conclusions:

  • The back EMF method shows significant potential for providing force feedback in robot-assisted surgery.
  • The developed system offers a promising, low-cost approach for detecting motor stalls and estimating forces without in-situ sensors.
  • Further advancements in motor stability and back EMF modeling are necessary for enabling accurate real-time force feedback.