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

Nikolaos Evangeliou; Petros Tsampiras; Anthony Tzes

doi:10.1109/MED.2018.8442724

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 proceeding › Conference 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 language	English (US)
Title of host publication	MED 2018 - 26th Mediterranean Conference on Control and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	383-387
Number of pages	5
ISBN (Print)	9781538678909
DOIs	https://doi.org/10.1109/MED.2018.8442724
State	Published - Aug 20 2018
Event	26th Mediterranean Conference on Control and Automation, MED 2018 - Zadar, Croatia Duration: Jun 19 2018 → Jun 22 2018

Publication series

Name	MED 2018 - 26th Mediterranean Conference on Control and Automation

Other

Other	26th Mediterranean Conference on Control and Automation, MED 2018
Country/Territory	Croatia
City	Zadar
Period	6/19/18 → 6/22/18

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering
Mechanical Engineering
Control and Optimization

Access to Document

10.1109/MED.2018.8442724

Cite this

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). Article 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

Development of a Tendon-Driven Robotic Tool Targeting Visual-Servoing Minimally-Invasive Surgical Operations. / Evangeliou, Nikolaos; Tsampiras, Petros; Tzes, Anthony.
MED 2018 - 26th Mediterranean Conference on Control and Automation. Institute of Electrical and Electronics Engineers Inc., 2018. p. 383-387 8442724 (MED 2018 - 26th Mediterranean Conference on Control and Automation).

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

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., 8442724, MED 2018 - 26th Mediterranean Conference on Control and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 383-387, 26th Mediterranean Conference on Control and Automation, MED 2018, Zadar, Croatia, 6/19/18. https://doi.org/10.1109/MED.2018.8442724

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

Evangeliou, Nikolaos ; Tsampiras, Petros ; Tzes, Anthony. / Development of a Tendon-Driven Robotic Tool Targeting Visual-Servoing Minimally-Invasive Surgical Operations. MED 2018 - 26th Mediterranean Conference on Control and Automation. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 383-387 (MED 2018 - 26th Mediterranean Conference on Control and Automation).

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

Abstract

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Other

ASJC Scopus subject areas

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