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
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