Design and development of a hyper-redundant binary active laparoscopic manipulator

Anastasia Mavrommati, Emmanouil Tzorakoleftherakis, Antonios Tzes

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

    Abstract

    The subject of this article is the development of a prototype hyper-redundant laparoscopic tool. The manipulator consists of cascaded modules which are powered by Shape Memory Alloy wires (NiTi), acting as binary actuators with two stable states. As a result, the repeatability of the manipulator's movement is ensured, alleviating the need for sensing of the manipulator's joint-positions. Each module is composed of three active prismatic actuators in a tripod configuration providing a 3-DOF (two rotational and one translational) maneuverability for each joint. I 2C-networked microcontrollers activate the individual tendons in each joint. Certain design aspects as well as the kinematics of the binary manipulator are presented followed by experimental studies on the laparoscopic tool prototype.

    Original languageEnglish (US)
    Title of host publication2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings
    Pages327-332
    Number of pages6
    DOIs
    StatePublished - Oct 9 2012
    Event2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Barcelona, Spain
    Duration: Jul 3 2012Jul 6 2012

    Other

    Other2012 20th Mediterranean Conference on Control and Automation, MED 2012
    CountrySpain
    CityBarcelona
    Period7/3/127/6/12

    Fingerprint

    Manipulators
    Actuators
    Maneuverability
    Tendons
    Microcontrollers
    Shape memory effect
    Kinematics
    Wire

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Mavrommati, A., Tzorakoleftherakis, E., & Tzes, A. (2012). Design and development of a hyper-redundant binary active laparoscopic manipulator. In 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings (pp. 327-332). [6265659] https://doi.org/10.1109/MED.2012.6265659

    Design and development of a hyper-redundant binary active laparoscopic manipulator. / Mavrommati, Anastasia; Tzorakoleftherakis, Emmanouil; Tzes, Antonios.

    2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings. 2012. p. 327-332 6265659.

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

    Mavrommati, A, Tzorakoleftherakis, E & Tzes, A 2012, Design and development of a hyper-redundant binary active laparoscopic manipulator. in 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings., 6265659, pp. 327-332, 2012 20th Mediterranean Conference on Control and Automation, MED 2012, Barcelona, Spain, 7/3/12. https://doi.org/10.1109/MED.2012.6265659
    Mavrommati A, Tzorakoleftherakis E, Tzes A. Design and development of a hyper-redundant binary active laparoscopic manipulator. In 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings. 2012. p. 327-332. 6265659 https://doi.org/10.1109/MED.2012.6265659
    Mavrommati, Anastasia ; Tzorakoleftherakis, Emmanouil ; Tzes, Antonios. / Design and development of a hyper-redundant binary active laparoscopic manipulator. 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings. 2012. pp. 327-332
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