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

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