Abstract
In this article, a novel robotic platform for robotic assisted minimally invasive surgical operations is presented. The platform consists of a 3 Degree-of-Freedom (DoF) passive tool holder and a 12 DoF robotic probe for dexterous motion upon insertion. The developed prototype is presented in terms of its mechatronic and kinematic structure. Regarding actuation, a hybrid solution comprising of servo-motors for the extraoperative part of the robot and shapememory-alloy actuators for the intraoperative probe is adopted. The latter are evaluated in terms of establishing an efficient antagonistic tendon-driven actuation control scheme. The robotic platform is in-vitro evaluated under a human-in-the-loop control scheme using a teleoperation device. Additionally, custom developed software for physicians’ training and pre-operative planning with the robot is presented.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 443-450 |
| Number of pages | 8 |
| Journal | International Review of Automatic Control |
| Volume | 10 |
| Issue number | 5 |
| DOIs | |
| State | Published - Sep 2017 |
Keywords
- Haptic feedback
- Novint falcon
- Redundant surgical tool
- Robot assisted surgery
- Shape memory alloys
- Teleoperation
ASJC Scopus subject areas
- Control and Systems Engineering