Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool

P. Giataganas, N. Evangeliou, Y. Koveos, E. Kelasidi, Antonios Tzes

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

Abstract

The development and experimental evaluation of a prototype endoscopic robotic surgical tool is presented in this article. Smart memory alloys (SMA) are used as wires in a tendon-driven actuation mechanism. The 2N-DOF redundant manipulator is a cascade configuration of N-universal joint modules. The kinematics of the tool is analyzed and simple yet effective controllers relying on a constrained non-linear optimization problem are offered. The surgical tool's shape can be deformed according to a predefined profile leading to more versatile configurations than the existing designs. The efficiency of the overall system is investigated in experimental studies where its performance is evaluated by a customized 3D-video system.

Original languageEnglish (US)
Title of host publication2011 19th Mediterranean Conference on Control and Automation, MED 2011
Pages1071-1075
Number of pages5
DOIs
StatePublished - Sep 8 2011
Event2011 19th Mediterranean Conference on Control and Automation, MED 2011 - Corfu, Greece
Duration: Jun 20 2011Jun 23 2011

Other

Other2011 19th Mediterranean Conference on Control and Automation, MED 2011
CountryGreece
CityCorfu
Period6/20/116/23/11

Fingerprint

Tendons
Robotics
Data storage equipment
Universal joints
Redundant manipulators
Kinematics
Wire
Controllers

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Giataganas, P., Evangeliou, N., Koveos, Y., Kelasidi, E., & Tzes, A. (2011). Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool. In 2011 19th Mediterranean Conference on Control and Automation, MED 2011 (pp. 1071-1075). [5983225] https://doi.org/10.1109/MED.2011.5983225

Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool. / Giataganas, P.; Evangeliou, N.; Koveos, Y.; Kelasidi, E.; Tzes, Antonios.

2011 19th Mediterranean Conference on Control and Automation, MED 2011. 2011. p. 1071-1075 5983225.

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

Giataganas, P, Evangeliou, N, Koveos, Y, Kelasidi, E & Tzes, A 2011, Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool. in 2011 19th Mediterranean Conference on Control and Automation, MED 2011., 5983225, pp. 1071-1075, 2011 19th Mediterranean Conference on Control and Automation, MED 2011, Corfu, Greece, 6/20/11. https://doi.org/10.1109/MED.2011.5983225
Giataganas P, Evangeliou N, Koveos Y, Kelasidi E, Tzes A. Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool. In 2011 19th Mediterranean Conference on Control and Automation, MED 2011. 2011. p. 1071-1075. 5983225 https://doi.org/10.1109/MED.2011.5983225
Giataganas, P. ; Evangeliou, N. ; Koveos, Y. ; Kelasidi, E. ; Tzes, Antonios. / Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool. 2011 19th Mediterranean Conference on Control and Automation, MED 2011. 2011. pp. 1071-1075
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