Development of a Tendon-Driven Robotic Tool Targeting Visual-Servoing Minimally-Invasive Surgical Operations

Nikolaos Evangeliou, Petros Tsampiras, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The development and experimental evaluation of a prototype robotic surgical tool is presented in this article. Servo motors are used as actuators in a tendon-driven actuation mechanism. The 2 Degree-of-Freedom (DoF) manipulator is a cascade configuration of 2 rotational joint modules. Each DoF is actuated independently by the corresponding tendon pair in a pulley-driven configuration. The design, fabrication and kinematics of the tool are analyzed. Moreover, the efficiency of the overall system is investigated in experimental studies, utilizing two performance evaluation methods. The first is an IMU-based, whilst the second utilizes a monocular visual servoing setup.

Original languageEnglish (US)
Title of host publicationMED 2018 - 26th Mediterranean Conference on Control and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages383-387
Number of pages5
ISBN (Print)9781538678909
DOIs
StatePublished - Aug 20 2018
Event26th Mediterranean Conference on Control and Automation, MED 2018 - Zadar, Croatia
Duration: Jun 19 2018Jun 22 2018

Publication series

NameMED 2018 - 26th Mediterranean Conference on Control and Automation

Other

Other26th Mediterranean Conference on Control and Automation, MED 2018
CountryCroatia
CityZadar
Period6/19/186/22/18

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

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    Evangeliou, N., Tsampiras, P., & Tzes, A. (2018). Development of a Tendon-Driven Robotic Tool Targeting Visual-Servoing Minimally-Invasive Surgical Operations. In MED 2018 - 26th Mediterranean Conference on Control and Automation (pp. 383-387). [8442724] (MED 2018 - 26th Mediterranean Conference on Control and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2018.8442724