Design and development of a hyper-redundant binary active laparoscopic manipulator

Anastasia Mavrommati, Emmanouil Tzorakoleftherakis, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The subject of this article is the development of a prototype hyper-redundant laparoscopic tool. The manipulator consists of cascaded modules which are powered by Shape Memory Alloy wires (NiTi), acting as binary actuators with two stable states. As a result, the repeatability of the manipulator's movement is ensured, alleviating the need for sensing of the manipulator's joint-positions. Each module is composed of three active prismatic actuators in a tripod configuration providing a 3-DOF (two rotational and one translational) maneuverability for each joint. I 2C-networked microcontrollers activate the individual tendons in each joint. Certain design aspects as well as the kinematics of the binary manipulator are presented followed by experimental studies on the laparoscopic tool prototype.

Original languageEnglish (US)
Title of host publication2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings
Pages327-332
Number of pages6
DOIs
StatePublished - 2012
Event2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Barcelona, Spain
Duration: Jul 3 2012Jul 6 2012

Publication series

Name2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings

Other

Other2012 20th Mediterranean Conference on Control and Automation, MED 2012
CountrySpain
CityBarcelona
Period7/3/127/6/12

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Mavrommati, A., Tzorakoleftherakis, E., & Tzes, A. (2012). Design and development of a hyper-redundant binary active laparoscopic manipulator. In 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings (pp. 327-332). [6265659] (2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings). https://doi.org/10.1109/MED.2012.6265659