A Hybrid Actuated Robotic Prototype for Minimally Invasive Surgery

Nikolaos Evangeliou, Antonios Tzes

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

Abstract

This article presents the design and experimental evaluation of a prototype robotic platform for minimally invasive surgical procedures. The platform utilizes a hybrid actuation scheme, consisting of a 5 Degree-of-Freedom (DoF) servo-actuated manipulator for extra-operative and pivoting motion and a 4 DoF shape memory alloy actuated probe at the distal end, for intra-operative dexterity. The architecture targets thoracic and abdominal operations, with low interaction forces at the probe's end-effector. The system, runs under the Robot Operating System framework for easier deployment and development. Additional accompanying software is developed to aid the surgeon during deployment. Specifically, a Graphical User Interface employing modules controls for online parameter reconfiguration, operation mode switching while custom viewports for stereo imaging are implemented. Teleoperation is feasible with the integration of a haptic device. In-vitro evaluation of the robot is presented, to assess the maneuvering efficiency and further potential exploitation of the design.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1386-1391
Number of pages6
ISBN (Electronic)9781538630815
DOIs
StatePublished - Sep 10 2018
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: May 21 2018May 25 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
CountryAustralia
CityBrisbane
Period5/21/185/25/18

Fingerprint

Surgery
Robotics
Robots
End effectors
Remote control
Graphical user interfaces
Shape memory effect
Manipulators
Imaging techniques

Keywords

  • Medical Imaging
  • Minimally Invasive Surgery
  • Robot Assisted Surgery
  • Shape Memory Alloy actuation
  • Visual Servoing

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Evangeliou, N., & Tzes, A. (2018). A Hybrid Actuated Robotic Prototype for Minimally Invasive Surgery. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 1386-1391). [8460640] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8460640

A Hybrid Actuated Robotic Prototype for Minimally Invasive Surgery. / Evangeliou, Nikolaos; Tzes, Antonios.

2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1386-1391 8460640 (Proceedings - IEEE International Conference on Robotics and Automation).

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

Evangeliou, N & Tzes, A 2018, A Hybrid Actuated Robotic Prototype for Minimally Invasive Surgery. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8460640, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 1386-1391, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 5/21/18. https://doi.org/10.1109/ICRA.2018.8460640
Evangeliou N, Tzes A. A Hybrid Actuated Robotic Prototype for Minimally Invasive Surgery. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1386-1391. 8460640. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2018.8460640
Evangeliou, Nikolaos ; Tzes, Antonios. / A Hybrid Actuated Robotic Prototype for Minimally Invasive Surgery. 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1386-1391 (Proceedings - IEEE International Conference on Robotics and Automation).
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