Design and antagonistic control of a tendon-driven Minimally Invasive Surgical robotic tool

Nikolaos Evangeliou; Dimitrios Karageorgos; Anthony Tzes

doi:10.1109/MED.2016.7536039

Design and antagonistic control of a tendon-driven Minimally Invasive Surgical robotic tool

Nikolaos Evangeliou, Dimitrios Karageorgos, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This article is concerned with the design, implementation and control of a redundant robotic tool for Minimal Invasive Surgical (MIS) operations. The robotic tool is modular, comprised of identical stages of dual rotational Degrees of Freedom (DoF). An antagonistic tendon-driven mechanism using two DC-motors in a puller-follower configuration is used for each DoF. The inherent Coulomb friction is compensated using an adaptive scheme while varying the follower's reaction. Preliminary experimental results are provided to investigate the efficiency of the robot in typical surgical manoeuvres.

Original language	English (US)
Title of host publication	24th Mediterranean Conference on Control and Automation, MED 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	725-730
Number of pages	6
ISBN (Electronic)	9781467383455
DOIs	https://doi.org/10.1109/MED.2016.7536039
State	Published - Aug 5 2016
Event	24th Mediterranean Conference on Control and Automation, MED 2016 - Athens, Greece Duration: Jun 21 2016 → Jun 24 2016

Publication series

Name	24th Mediterranean Conference on Control and Automation, MED 2016

Other

Other	24th Mediterranean Conference on Control and Automation, MED 2016
Country/Territory	Greece
City	Athens
Period	6/21/16 → 6/24/16

ASJC Scopus subject areas

Control and Systems Engineering
Control and Optimization
Modeling and Simulation

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10.1109/MED.2016.7536039

Cite this

Evangeliou, N., Karageorgos, D., & Tzes, A. (2016). Design and antagonistic control of a tendon-driven Minimally Invasive Surgical robotic tool. In 24th Mediterranean Conference on Control and Automation, MED 2016 (pp. 725-730). Article 7536039 (24th Mediterranean Conference on Control and Automation, MED 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2016.7536039

Design and antagonistic control of a tendon-driven Minimally Invasive Surgical robotic tool. / Evangeliou, Nikolaos; Karageorgos, Dimitrios; Tzes, Anthony.
24th Mediterranean Conference on Control and Automation, MED 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 725-730 7536039 (24th Mediterranean Conference on Control and Automation, MED 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Evangeliou, N, Karageorgos, D & Tzes, A 2016, Design and antagonistic control of a tendon-driven Minimally Invasive Surgical robotic tool. in 24th Mediterranean Conference on Control and Automation, MED 2016., 7536039, 24th Mediterranean Conference on Control and Automation, MED 2016, Institute of Electrical and Electronics Engineers Inc., pp. 725-730, 24th Mediterranean Conference on Control and Automation, MED 2016, Athens, Greece, 6/21/16. https://doi.org/10.1109/MED.2016.7536039

Evangeliou N, Karageorgos D, Tzes A. Design and antagonistic control of a tendon-driven Minimally Invasive Surgical robotic tool. In 24th Mediterranean Conference on Control and Automation, MED 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 725-730. 7536039. (24th Mediterranean Conference on Control and Automation, MED 2016). doi: 10.1109/MED.2016.7536039

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Design and antagonistic control of a tendon-driven Minimally Invasive Surgical robotic tool

Abstract

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