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 proceedingConference 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 languageEnglish (US)
Title of host publication24th Mediterranean Conference on Control and Automation, MED 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages725-730
Number of pages6
ISBN (Electronic)9781467383455
DOIs
StatePublished - Aug 5 2016
Event24th Mediterranean Conference on Control and Automation, MED 2016 - Athens, Greece
Duration: Jun 21 2016Jun 24 2016

Publication series

Name24th Mediterranean Conference on Control and Automation, MED 2016

Other

Other24th Mediterranean Conference on Control and Automation, MED 2016
CountryGreece
CityAthens
Period6/21/166/24/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization
  • Modeling and Simulation

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