Design and control of a robotic platform for dexterous minimally invasive surgical applications

Nikolaos Evangeliou, Anthony Tzes

Research output: Contribution to journalArticlepeer-review


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 languageEnglish (US)
Pages (from-to)443-450
Number of pages8
JournalInternational Review of Automatic Control
Issue number5
StatePublished - Sep 2017


  • Haptic feedback
  • Novint falcon
  • Redundant surgical tool
  • Robot assisted surgery
  • Shape memory alloys
  • Teleoperation

ASJC Scopus subject areas

  • Control and Systems Engineering


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