TY - GEN
T1 - Design and development of a hyper-redundant binary active laparoscopic manipulator
AU - Mavrommati, Anastasia
AU - Tzorakoleftherakis, Emmanouil
AU - Tzes, Anthony
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
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U2 - 10.1109/MED.2012.6265659
DO - 10.1109/MED.2012.6265659
M3 - Conference contribution
AN - SCOPUS:84867071739
SN - 9781467325318
T3 - 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings
SP - 327
EP - 332
BT - 2012 20th Mediterranean Conference on Control and Automation, MED 2012 - Conference Proceedings
T2 - 2012 20th Mediterranean Conference on Control and Automation, MED 2012
Y2 - 3 July 2012 through 6 July 2012
ER -