TY - GEN
T1 - A Hybrid Actuated Robotic Prototype for Minimally Invasive Surgery
AU - Evangeliou, Nikolaos
AU - Tzes, Anthony
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - This article presents the design and experimental evaluation of a prototype robotic platform for minimally invasive surgical procedures. The platform utilizes a hybrid actuation scheme, consisting of a 5 Degree-of-Freedom (DoF) servo-actuated manipulator for extra-operative and pivoting motion and a 4 DoF shape memory alloy actuated probe at the distal end, for intra-operative dexterity. The architecture targets thoracic and abdominal operations, with low interaction forces at the probe's end-effector. The system, runs under the Robot Operating System framework for easier deployment and development. Additional accompanying software is developed to aid the surgeon during deployment. Specifically, a Graphical User Interface employing modules controls for online parameter reconfiguration, operation mode switching while custom viewports for stereo imaging are implemented. Teleoperation is feasible with the integration of a haptic device. In-vitro evaluation of the robot is presented, to assess the maneuvering efficiency and further potential exploitation of the design.
AB - This article presents the design and experimental evaluation of a prototype robotic platform for minimally invasive surgical procedures. The platform utilizes a hybrid actuation scheme, consisting of a 5 Degree-of-Freedom (DoF) servo-actuated manipulator for extra-operative and pivoting motion and a 4 DoF shape memory alloy actuated probe at the distal end, for intra-operative dexterity. The architecture targets thoracic and abdominal operations, with low interaction forces at the probe's end-effector. The system, runs under the Robot Operating System framework for easier deployment and development. Additional accompanying software is developed to aid the surgeon during deployment. Specifically, a Graphical User Interface employing modules controls for online parameter reconfiguration, operation mode switching while custom viewports for stereo imaging are implemented. Teleoperation is feasible with the integration of a haptic device. In-vitro evaluation of the robot is presented, to assess the maneuvering efficiency and further potential exploitation of the design.
KW - Medical Imaging
KW - Minimally Invasive Surgery
KW - Robot Assisted Surgery
KW - Shape Memory Alloy actuation
KW - Visual Servoing
UR - http://www.scopus.com/inward/record.url?scp=85063142818&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85063142818&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2018.8460640
DO - 10.1109/ICRA.2018.8460640
M3 - Conference contribution
AN - SCOPUS:85063142818
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1386
EP - 1391
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -