Design and control of a robotic platform for dexterous minimally invasive surgical applications

Nikolaos Evangeliou, Antonios Tzes

    Research output: Contribution to journalArticle

    Abstract

    In this article, a novel robotic platform for robotic assisted minimally invasive surgical operations is presented. The platform consists of a 3 Degree-of-Freedom (DoF) passive tool holder and a 12 DoF robotic probe for dexterous motion upon insertion. The developed prototype is presented in terms of its mechatronic and kinematic structure. Regarding actuation, a hybrid solution comprising of servo-motors for the extraoperative part of the robot and shapememory-alloy actuators for the intraoperative probe is adopted. The latter are evaluated in terms of establishing an efficient antagonistic tendon-driven actuation control scheme. The robotic platform is in-vitro evaluated under a human-in-the-loop control scheme using a teleoperation device. Additionally, custom developed software for physicians’ training and pre-operative planning with the robot is presented.

    Original languageEnglish (US)
    Pages (from-to)443-450
    Number of pages8
    JournalInternational Review of Automatic Control
    Volume10
    Issue number5
    DOIs
    StatePublished - Sep 1 2017

    Fingerprint

    Robotics
    Robots
    Mechatronics
    Tendons
    Remote control
    Kinematics
    Actuators
    Planning

    Keywords

    • Haptic feedback
    • Novint falcon
    • Redundant surgical tool
    • Robot assisted surgery
    • Shape memory alloys
    • Teleoperation

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Design and control of a robotic platform for dexterous minimally invasive surgical applications. / Evangeliou, Nikolaos; Tzes, Antonios.

    In: International Review of Automatic Control, Vol. 10, No. 5, 01.09.2017, p. 443-450.

    Research output: Contribution to journalArticle

    @article{5f469fd9e7ec4a23a729b8b15ed41e14,
    title = "Design and control of a robotic platform for dexterous minimally invasive surgical applications",
    abstract = "In this article, a novel robotic platform for robotic assisted minimally invasive surgical operations is presented. The platform consists of a 3 Degree-of-Freedom (DoF) passive tool holder and a 12 DoF robotic probe for dexterous motion upon insertion. The developed prototype is presented in terms of its mechatronic and kinematic structure. Regarding actuation, a hybrid solution comprising of servo-motors for the extraoperative part of the robot and shapememory-alloy actuators for the intraoperative probe is adopted. The latter are evaluated in terms of establishing an efficient antagonistic tendon-driven actuation control scheme. The robotic platform is in-vitro evaluated under a human-in-the-loop control scheme using a teleoperation device. Additionally, custom developed software for physicians’ training and pre-operative planning with the robot is presented.",
    keywords = "Haptic feedback, Novint falcon, Redundant surgical tool, Robot assisted surgery, Shape memory alloys, Teleoperation",
    author = "Nikolaos Evangeliou and Antonios Tzes",
    year = "2017",
    month = "9",
    day = "1",
    doi = "10.15866/ireaco.v10i5.12748",
    language = "English (US)",
    volume = "10",
    pages = "443--450",
    journal = "International Review of Automatic Control",
    issn = "1974-6059",
    publisher = "Praise Worthy Prize",
    number = "5",

    }

    TY - JOUR

    T1 - Design and control of a robotic platform for dexterous minimally invasive surgical applications

    AU - Evangeliou, Nikolaos

    AU - Tzes, Antonios

    PY - 2017/9/1

    Y1 - 2017/9/1

    N2 - In this article, a novel robotic platform for robotic assisted minimally invasive surgical operations is presented. The platform consists of a 3 Degree-of-Freedom (DoF) passive tool holder and a 12 DoF robotic probe for dexterous motion upon insertion. The developed prototype is presented in terms of its mechatronic and kinematic structure. Regarding actuation, a hybrid solution comprising of servo-motors for the extraoperative part of the robot and shapememory-alloy actuators for the intraoperative probe is adopted. The latter are evaluated in terms of establishing an efficient antagonistic tendon-driven actuation control scheme. The robotic platform is in-vitro evaluated under a human-in-the-loop control scheme using a teleoperation device. Additionally, custom developed software for physicians’ training and pre-operative planning with the robot is presented.

    AB - In this article, a novel robotic platform for robotic assisted minimally invasive surgical operations is presented. The platform consists of a 3 Degree-of-Freedom (DoF) passive tool holder and a 12 DoF robotic probe for dexterous motion upon insertion. The developed prototype is presented in terms of its mechatronic and kinematic structure. Regarding actuation, a hybrid solution comprising of servo-motors for the extraoperative part of the robot and shapememory-alloy actuators for the intraoperative probe is adopted. The latter are evaluated in terms of establishing an efficient antagonistic tendon-driven actuation control scheme. The robotic platform is in-vitro evaluated under a human-in-the-loop control scheme using a teleoperation device. Additionally, custom developed software for physicians’ training and pre-operative planning with the robot is presented.

    KW - Haptic feedback

    KW - Novint falcon

    KW - Redundant surgical tool

    KW - Robot assisted surgery

    KW - Shape memory alloys

    KW - Teleoperation

    UR - http://www.scopus.com/inward/record.url?scp=85036528036&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=85036528036&partnerID=8YFLogxK

    U2 - 10.15866/ireaco.v10i5.12748

    DO - 10.15866/ireaco.v10i5.12748

    M3 - Article

    VL - 10

    SP - 443

    EP - 450

    JO - International Review of Automatic Control

    JF - International Review of Automatic Control

    SN - 1974-6059

    IS - 5

    ER -