Design and experimental evaluation of a tendon-driven minimally invasive surgical robotic tool with antagonistic control

Nikolaos Evanseliou; Emmanouil Dimitrakakis; Anthony Tzes

doi:10.1109/CCTA.2017.8062505

Design and experimental evaluation of a tendon-driven minimally invasive surgical robotic tool with antagonistic control

Nikolaos Evanseliou, Emmanouil Dimitrakakis, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The design, implementation and experimental evaluation of a minimally invasive surgical robotic instrument is presented in this article. The tool is constructed using rapid prototyping techniques and each degree-of-freedom is actuated via an antagonistic tendon driven mechanism using servo motors. The accompanying software runs under the Robot Operating System framework. The kinematics of the tool are discussed and the efficiency of the system is investigated in experimental studies, which are showcased in order to assess its potential use in a clinical environment.

Original language	English (US)
Title of host publication	1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	463-467
Number of pages	5
ISBN (Electronic)	9781509021826
DOIs	https://doi.org/10.1109/CCTA.2017.8062505
State	Published - Oct 6 2017
Event	1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017 - Kohala Coast, United States Duration: Aug 27 2017 → Aug 30 2017

Publication series

Name	1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
Volume	2017-January

Other

Other	1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
Country/Territory	United States
City	Kohala Coast
Period	8/27/17 → 8/30/17

ASJC Scopus subject areas

Theoretical Computer Science
Hardware and Architecture
Software
Control and Systems Engineering

Access to Document

10.1109/CCTA.2017.8062505

Cite this

Evanseliou, N., Dimitrakakis, E., & Tzes, A. (2017). Design and experimental evaluation of a tendon-driven minimally invasive surgical robotic tool with antagonistic control. In 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017 (pp. 463-467). (1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017; Vol. 2017-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCTA.2017.8062505

Design and experimental evaluation of a tendon-driven minimally invasive surgical robotic tool with antagonistic control. / Evanseliou, Nikolaos; Dimitrakakis, Emmanouil; Tzes, Anthony.
1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 463-467 (1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017; Vol. 2017-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Evanseliou, N, Dimitrakakis, E & Tzes, A 2017, Design and experimental evaluation of a tendon-driven minimally invasive surgical robotic tool with antagonistic control. in 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017. 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017, vol. 2017-January, Institute of Electrical and Electronics Engineers Inc., pp. 463-467, 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017, Kohala Coast, United States, 8/27/17. https://doi.org/10.1109/CCTA.2017.8062505

Evanseliou N, Dimitrakakis E, Tzes A. Design and experimental evaluation of a tendon-driven minimally invasive surgical robotic tool with antagonistic control. In 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 463-467. (1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017). doi: 10.1109/CCTA.2017.8062505

Evanseliou, Nikolaos ; Dimitrakakis, Emmanouil ; Tzes, Anthony. / Design and experimental evaluation of a tendon-driven minimally invasive surgical robotic tool with antagonistic control. 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 463-467 (1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017).

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Design and experimental evaluation of a tendon-driven minimally invasive surgical robotic tool with antagonistic control

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