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
    StatePublished - 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

    Fingerprint

    Tendons
    Experimental Evaluation
    Robotics
    Rapid Prototyping
    Rapid prototyping
    Operating Systems
    Experimental Study
    Kinematics
    Robot
    Degree of freedom
    Robots
    Software
    Design
    Framework

    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

    Design and experimental evaluation of a tendon-driven minimally invasive surgical robotic tool with antagonistic control. / Evanseliou, Nikolaos; Dimitrakakis, Emmanouil; Tzes, Antonios.

    1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017. Vol. 2017-January Institute of Electrical and Electronics Engineers Inc., 2017. p. 463-467.

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

    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, Institute of Electrical and Electronics Engineers Inc., pp. 463-467, 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017, Kohala Coast, United States, 8/27/17. https://doi.org/10.1109/CCTA.2017.8062505
    Evanseliou N, Dimitrakakis E, Tzes A. 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. Institute of Electrical and Electronics Engineers Inc. 2017. p. 463-467 https://doi.org/10.1109/CCTA.2017.8062505
    Evanseliou, Nikolaos ; Dimitrakakis, Emmanouil ; Tzes, Antonios. / Design and experimental evaluation of a tendon-driven minimally invasive surgical robotic tool with antagonistic control. 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017. Vol. 2017-January Institute of Electrical and Electronics Engineers Inc., 2017. pp. 463-467
    @inproceedings{0acf3b934f294dbbb141e72d1881584c,
    title = "Design and experimental evaluation of a tendon-driven minimally invasive surgical robotic tool with antagonistic control",
    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.",
    author = "Nikolaos Evanseliou and Emmanouil Dimitrakakis and Antonios Tzes",
    year = "2017",
    month = "10",
    day = "6",
    doi = "10.1109/CCTA.2017.8062505",
    language = "English (US)",
    volume = "2017-January",
    pages = "463--467",
    booktitle = "1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017",
    publisher = "Institute of Electrical and Electronics Engineers Inc.",

    }

    TY - GEN

    T1 - Design and experimental evaluation of a tendon-driven minimally invasive surgical robotic tool with antagonistic control

    AU - Evanseliou, Nikolaos

    AU - Dimitrakakis, Emmanouil

    AU - Tzes, Antonios

    PY - 2017/10/6

    Y1 - 2017/10/6

    N2 - 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.

    AB - 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.

    UR - http://www.scopus.com/inward/record.url?scp=85047751498&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=85047751498&partnerID=8YFLogxK

    U2 - 10.1109/CCTA.2017.8062505

    DO - 10.1109/CCTA.2017.8062505

    M3 - Conference contribution

    VL - 2017-January

    SP - 463

    EP - 467

    BT - 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017

    PB - Institute of Electrical and Electronics Engineers Inc.

    ER -