Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery

Nikolaos Evangeliou, Antonios Tzes

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

    Abstract

    The design, fabrication and testing of an SMA-Actuated redundant robotic-probe for minimally invasive surgical procedures is the subject of this article. The resulting probe is lightweight, modular and its controller relies on an antagonistic principle for each pair of tendons. The developed platform consists of a twelve Degree of Freedom snake-like probe attached to a pan-Tilt mechanized unit. The probe's dimensions are fit for typical ablations and endoscopic operations. An augmented reality environment is developed, coupling haptic feedback to visual servoing techniques under the assumption that the surgeon uses a HID-device (virtual reality headset) for assistance during the operation.

    Original languageEnglish (US)
    Title of host publication2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
    PublisherIEEE Computer Society
    Pages353-358
    Number of pages6
    Volume2016-July
    ISBN (Electronic)9781509032877
    DOIs
    StatePublished - Jul 26 2016
    Event6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore
    Duration: Jun 26 2016Jun 29 2016

    Other

    Other6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
    CountrySingapore
    CitySingapore
    Period6/26/166/29/16

    Fingerprint

    Surgery
    Robotics
    Visual servoing
    Augmented reality
    Tendons
    Ablation
    Virtual reality
    Feedback
    Fabrication
    Controllers
    Testing

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Biomedical Engineering
    • Mechanical Engineering

    Cite this

    Evangeliou, N., & Tzes, A. (2016). Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 (Vol. 2016-July, pp. 353-358). [7523651] IEEE Computer Society. https://doi.org/10.1109/BIOROB.2016.7523651

    Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery. / Evangeliou, Nikolaos; Tzes, Antonios.

    2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. Vol. 2016-July IEEE Computer Society, 2016. p. 353-358 7523651.

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

    Evangeliou, N & Tzes, A 2016, Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery. in 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. vol. 2016-July, 7523651, IEEE Computer Society, pp. 353-358, 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016, Singapore, Singapore, 6/26/16. https://doi.org/10.1109/BIOROB.2016.7523651
    Evangeliou N, Tzes A. Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. Vol. 2016-July. IEEE Computer Society. 2016. p. 353-358. 7523651 https://doi.org/10.1109/BIOROB.2016.7523651
    Evangeliou, Nikolaos ; Tzes, Antonios. / Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery. 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. Vol. 2016-July IEEE Computer Society, 2016. pp. 353-358
    @inproceedings{52e4991fd4944d0bbe60f242fb3f489f,
    title = "Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery",
    abstract = "The design, fabrication and testing of an SMA-Actuated redundant robotic-probe for minimally invasive surgical procedures is the subject of this article. The resulting probe is lightweight, modular and its controller relies on an antagonistic principle for each pair of tendons. The developed platform consists of a twelve Degree of Freedom snake-like probe attached to a pan-Tilt mechanized unit. The probe's dimensions are fit for typical ablations and endoscopic operations. An augmented reality environment is developed, coupling haptic feedback to visual servoing techniques under the assumption that the surgeon uses a HID-device (virtual reality headset) for assistance during the operation.",
    author = "Nikolaos Evangeliou and Antonios Tzes",
    year = "2016",
    month = "7",
    day = "26",
    doi = "10.1109/BIOROB.2016.7523651",
    language = "English (US)",
    volume = "2016-July",
    pages = "353--358",
    booktitle = "2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016",
    publisher = "IEEE Computer Society",

    }

    TY - GEN

    T1 - Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery

    AU - Evangeliou, Nikolaos

    AU - Tzes, Antonios

    PY - 2016/7/26

    Y1 - 2016/7/26

    N2 - The design, fabrication and testing of an SMA-Actuated redundant robotic-probe for minimally invasive surgical procedures is the subject of this article. The resulting probe is lightweight, modular and its controller relies on an antagonistic principle for each pair of tendons. The developed platform consists of a twelve Degree of Freedom snake-like probe attached to a pan-Tilt mechanized unit. The probe's dimensions are fit for typical ablations and endoscopic operations. An augmented reality environment is developed, coupling haptic feedback to visual servoing techniques under the assumption that the surgeon uses a HID-device (virtual reality headset) for assistance during the operation.

    AB - The design, fabrication and testing of an SMA-Actuated redundant robotic-probe for minimally invasive surgical procedures is the subject of this article. The resulting probe is lightweight, modular and its controller relies on an antagonistic principle for each pair of tendons. The developed platform consists of a twelve Degree of Freedom snake-like probe attached to a pan-Tilt mechanized unit. The probe's dimensions are fit for typical ablations and endoscopic operations. An augmented reality environment is developed, coupling haptic feedback to visual servoing techniques under the assumption that the surgeon uses a HID-device (virtual reality headset) for assistance during the operation.

    UR - http://www.scopus.com/inward/record.url?scp=84983409642&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=84983409642&partnerID=8YFLogxK

    U2 - 10.1109/BIOROB.2016.7523651

    DO - 10.1109/BIOROB.2016.7523651

    M3 - Conference contribution

    VL - 2016-July

    SP - 353

    EP - 358

    BT - 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016

    PB - IEEE Computer Society

    ER -