Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery

Nikolaos Evangeliou; Anthony Tzes

doi:10.1109/BIOROB.2016.7523651

Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery

Nikolaos Evangeliou, Anthony Tzes

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

Abstract

The design, fabrication and testing of an SMA-Actuated redundant robotic-probe for minimally invasive surgical procedures is the subject of this article. The resulting probe is lightweight, modular and its controller relies on an antagonistic principle for each pair of tendons. The developed platform consists of a twelve Degree of Freedom snake-like probe attached to a pan-Tilt mechanized unit. The probe's dimensions are fit for typical ablations and endoscopic operations. An augmented reality environment is developed, coupling haptic feedback to visual servoing techniques under the assumption that the surgeon uses a HID-device (virtual reality headset) for assistance during the operation.

Original language	English (US)
Title of host publication	2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Publisher	IEEE Computer Society
Pages	353-358
Number of pages	6
ISBN (Electronic)	9781509032877
DOIs	https://doi.org/10.1109/BIOROB.2016.7523651
State	Published - Jul 26 2016
Event	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore Duration: Jun 26 2016 → Jun 29 2016

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume	2016-July
ISSN (Print)	2155-1774

Other

Other	6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Country/Territory	Singapore
City	Singapore
Period	6/26/16 → 6/29/16

ASJC Scopus subject areas

Artificial Intelligence
Biomedical Engineering
Mechanical Engineering

Access to Document

10.1109/BIOROB.2016.7523651

Cite this

Evangeliou, N., & Tzes, A. (2016). Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 (pp. 353-358). Article 7523651 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2016-July). IEEE Computer Society. https://doi.org/10.1109/BIOROB.2016.7523651

Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery. / Evangeliou, Nikolaos; Tzes, Anthony.
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. IEEE Computer Society, 2016. p. 353-358 7523651 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2016-July).

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

Evangeliou, N & Tzes, A 2016, Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery. in 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016., 7523651, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, vol. 2016-July, IEEE Computer Society, pp. 353-358, 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016, Singapore, Singapore, 6/26/16. https://doi.org/10.1109/BIOROB.2016.7523651

Evangeliou N, Tzes A. Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. IEEE Computer Society. 2016. p. 353-358. 7523651. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/BIOROB.2016.7523651

Evangeliou, Nikolaos ; Tzes, Anthony. / Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery. 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016. IEEE Computer Society, 2016. pp. 353-358 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

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Development of an SMA-Actuated redundant robotic platform for minimally invasive surgery

Abstract

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