Design and experimental evaluation of a tendon-driven minimally invasive surgical robotic tool with antagonistic control

Nikolaos Evanseliou, Emmanouil Dimitrakakis, Antonios Tzes

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

Abstract

The design, implementation and experimental evaluation of a minimally invasive surgical robotic instrument is presented in this article. The tool is constructed using rapid prototyping techniques and each degree-of-freedom is actuated via an antagonistic tendon driven mechanism using servo motors. The accompanying software runs under the Robot Operating System framework. The kinematics of the tool are discussed and the efficiency of the system is investigated in experimental studies, which are showcased in order to assess its potential use in a clinical environment.

Original languageEnglish (US)
Title of host publication1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages463-467
Number of pages5
Volume2017-January
ISBN (Electronic)9781509021826
DOIs
Publication statusPublished - Oct 6 2017
Event1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017 - Kohala Coast, United States
Duration: Aug 27 2017Aug 30 2017

Other

Other1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
CountryUnited States
CityKohala Coast
Period8/27/178/30/17

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ASJC Scopus subject areas

  • Theoretical Computer Science
  • Hardware and Architecture
  • Software
  • Control and Systems Engineering

Cite this

Evanseliou, N., Dimitrakakis, E., & Tzes, A. (2017). Design and experimental evaluation of a tendon-driven minimally invasive surgical robotic tool with antagonistic control. In 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017 (Vol. 2017-January, pp. 463-467). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCTA.2017.8062505