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

Nikolaos Evangeliou, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publication2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
PublisherIEEE Computer Society
Pages353-358
Number of pages6
ISBN (Electronic)9781509032877
DOIs
StatePublished - Jul 26 2016
Event6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore
Duration: Jun 26 2016Jun 29 2016

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume2016-July
ISSN (Print)2155-1774

Other

Other6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
CountrySingapore
CitySingapore
Period6/26/166/29/16

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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