A human-in-The-loop controlled shape memory alloy actuated robotic probe for minimally invasive surgical procedures

Nikolaos Evangeliou, Antonios Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper the design and positioning efficiency tests of a robotic endoscope prototype for Minimally Invasive Surgical (MIS) operations are presented. The manufactured probe features twelve Degrees-of-Freedom (DoF), using universal joints and links in a redundant configuration. For actuation, Shape Memory Alloys (SMAs) are used in a smart configuration, alongside custom manufactured electronics for real-Time motion monitoring. Preliminary in vitro experiments are presented in an attempt to investigate the efficiency of the robot in typical surgical manoeuvres.

Original languageEnglish (US)
Title of host publicationELEKTRO 2016 - 11th International Conference, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages504-508
Number of pages5
ISBN (Electronic)9781467386982
DOIs
StatePublished - Jul 13 2016
Event11th International Conference on ELEKTRO 2016 - Strbske Pleso, High Tatras, Slovakia
Duration: May 16 2016May 18 2016

Other

Other11th International Conference on ELEKTRO 2016
CountrySlovakia
CityStrbske Pleso, High Tatras
Period5/16/165/18/16

Fingerprint

Shape Memory
Shape memory effect
Robotics
Probe
Universal joints
Endoscope
Configuration
Endoscopy
Positioning
Electronic equipment
Robot
Degree of freedom
Electronics
Prototype
Robots
Monitoring
Real-time
Motion
Experiment
Experiments

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering
  • Control and Optimization

Cite this

Evangeliou, N., & Tzes, A. (2016). A human-in-The-loop controlled shape memory alloy actuated robotic probe for minimally invasive surgical procedures. In ELEKTRO 2016 - 11th International Conference, Proceedings (pp. 504-508). [7512127] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ELEKTRO.2016.7512127

A human-in-The-loop controlled shape memory alloy actuated robotic probe for minimally invasive surgical procedures. / Evangeliou, Nikolaos; Tzes, Antonios.

ELEKTRO 2016 - 11th International Conference, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2016. p. 504-508 7512127.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Evangeliou, N & Tzes, A 2016, A human-in-The-loop controlled shape memory alloy actuated robotic probe for minimally invasive surgical procedures. in ELEKTRO 2016 - 11th International Conference, Proceedings., 7512127, Institute of Electrical and Electronics Engineers Inc., pp. 504-508, 11th International Conference on ELEKTRO 2016, Strbske Pleso, High Tatras, Slovakia, 5/16/16. https://doi.org/10.1109/ELEKTRO.2016.7512127
Evangeliou N, Tzes A. A human-in-The-loop controlled shape memory alloy actuated robotic probe for minimally invasive surgical procedures. In ELEKTRO 2016 - 11th International Conference, Proceedings. Institute of Electrical and Electronics Engineers Inc. 2016. p. 504-508. 7512127 https://doi.org/10.1109/ELEKTRO.2016.7512127
Evangeliou, Nikolaos ; Tzes, Antonios. / A human-in-The-loop controlled shape memory alloy actuated robotic probe for minimally invasive surgical procedures. ELEKTRO 2016 - 11th International Conference, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 504-508
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