TY - GEN
T1 - Development and Experimental Evaluation of a 3DoF Tendon-Driven Probe for Robot Assisted Minimally Invasive Surgical Operations
AU - Seisa, Achilleas Santi
AU - Evangeliou, Nikolaos
AU - Tzes, Anthony
AU - Nikolakopoulos, George
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Robotic surgery has been an upcoming scientific area for many years. However, several limitations have restricted the use of robotic surgery to a confined field of operations. In this context, the development and experimental evaluation of a novel prototype laparoscopic robotic surgical tool, that can expand the capabilities of the existing surgical robotic devices, is discussed in this article. Servo-motors are used as actuators in a tendon-driven actuation mechanism. The 3 Degree-of-Freedom (DoF) manipulator is a cascade configuration of three rotational joint modules, imitating the motions of a spherical wrist. The design, fabrication, and kinematics of the tool are presented, while the efficiency of the overall system is investigated through experimental studies, using an Inertial Measurement Unit (IMU) sensing modality as external reference.
AB - Robotic surgery has been an upcoming scientific area for many years. However, several limitations have restricted the use of robotic surgery to a confined field of operations. In this context, the development and experimental evaluation of a novel prototype laparoscopic robotic surgical tool, that can expand the capabilities of the existing surgical robotic devices, is discussed in this article. Servo-motors are used as actuators in a tendon-driven actuation mechanism. The 3 Degree-of-Freedom (DoF) manipulator is a cascade configuration of three rotational joint modules, imitating the motions of a spherical wrist. The design, fabrication, and kinematics of the tool are presented, while the efficiency of the overall system is investigated through experimental studies, using an Inertial Measurement Unit (IMU) sensing modality as external reference.
KW - Biomedical Robotics
KW - MIRS
KW - Robotic Arm
KW - Surgical Robots
UR - http://www.scopus.com/inward/record.url?scp=85164103040&partnerID=8YFLogxK
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U2 - 10.1109/ICCAD57653.2023.10152334
DO - 10.1109/ICCAD57653.2023.10152334
M3 - Conference contribution
AN - SCOPUS:85164103040
T3 - 2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023
BT - 2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023
Y2 - 10 May 2023 through 12 May 2023
ER -