Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool

P. Giataganas; N. Evangeliou; Y. Koveos; E. Kelasidi; A. Tzes

doi:10.1109/MED.2011.5983225

Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool

P. Giataganas, N. Evangeliou, Y. Koveos, E. Kelasidi, A. Tzes

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

Abstract

The development and experimental evaluation of a prototype endoscopic robotic surgical tool is presented in this article. Smart memory alloys (SMA) are used as wires in a tendon-driven actuation mechanism. The 2N-DOF redundant manipulator is a cascade configuration of N-universal joint modules. The kinematics of the tool is analyzed and simple yet effective controllers relying on a constrained non-linear optimization problem are offered. The surgical tool's shape can be deformed according to a predefined profile leading to more versatile configurations than the existing designs. The efficiency of the overall system is investigated in experimental studies where its performance is evaluated by a customized 3D-video system.

Original language	English (US)
Title of host publication	2011 19th Mediterranean Conference on Control and Automation, MED 2011
Pages	1071-1075
Number of pages	5
DOIs	https://doi.org/10.1109/MED.2011.5983225
State	Published - 2011
Event	2011 19th Mediterranean Conference on Control and Automation, MED 2011 - Corfu, Greece Duration: Jun 20 2011 → Jun 23 2011

Publication series

Name	2011 19th Mediterranean Conference on Control and Automation, MED 2011

Other

Other	2011 19th Mediterranean Conference on Control and Automation, MED 2011
Country/Territory	Greece
City	Corfu
Period	6/20/11 → 6/23/11

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/MED.2011.5983225

Cite this

Giataganas, P., Evangeliou, N., Koveos, Y., Kelasidi, E., & Tzes, A. (2011). Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool. In 2011 19th Mediterranean Conference on Control and Automation, MED 2011 (pp. 1071-1075). Article 5983225 (2011 19th Mediterranean Conference on Control and Automation, MED 2011). https://doi.org/10.1109/MED.2011.5983225

Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool. / Giataganas, P.; Evangeliou, N.; Koveos, Y. et al.
2011 19th Mediterranean Conference on Control and Automation, MED 2011. 2011. p. 1071-1075 5983225 (2011 19th Mediterranean Conference on Control and Automation, MED 2011).

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

Giataganas, P, Evangeliou, N, Koveos, Y, Kelasidi, E & Tzes, A 2011, Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool. in 2011 19th Mediterranean Conference on Control and Automation, MED 2011., 5983225, 2011 19th Mediterranean Conference on Control and Automation, MED 2011, pp. 1071-1075, 2011 19th Mediterranean Conference on Control and Automation, MED 2011, Corfu, Greece, 6/20/11. https://doi.org/10.1109/MED.2011.5983225

Giataganas P, Evangeliou N, Koveos Y, Kelasidi E, Tzes A. Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool. In 2011 19th Mediterranean Conference on Control and Automation, MED 2011. 2011. p. 1071-1075. 5983225. (2011 19th Mediterranean Conference on Control and Automation, MED 2011). doi: 10.1109/MED.2011.5983225

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Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool

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