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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