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 proceedingConference 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 languageEnglish (US)
Title of host publication2011 19th Mediterranean Conference on Control and Automation, MED 2011
Pages1071-1075
Number of pages5
DOIs
StatePublished - 2011
Event2011 19th Mediterranean Conference on Control and Automation, MED 2011 - Corfu, Greece
Duration: Jun 20 2011Jun 23 2011

Publication series

Name2011 19th Mediterranean Conference on Control and Automation, MED 2011

Other

Other2011 19th Mediterranean Conference on Control and Automation, MED 2011
CountryGreece
CityCorfu
Period6/20/116/23/11

ASJC Scopus subject areas

  • Control and Systems Engineering

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