Petros Giataganas, N. Evangeliou, Y. Koveos, Eleni Kelasidi, A. Tzes
{"title":"Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool","authors":"Petros Giataganas, N. Evangeliou, Y. Koveos, Eleni Kelasidi, A. Tzes","doi":"10.1109/MED.2011.5983225","DOIUrl":null,"url":null,"abstract":"The development and experimental evaluation of a prototype endoscopic robotic surgical tool is presented in this article. Smart memory alloys (SMA) are used as wires in a tendon-driven actuation mechanism. The 2N-DOF redundant manipulator is a cascade configuration of N-universal joint modules. The kinematics of the tool is analyzed and simple yet effective controllers relying on a constrained non-linear optimization problem are offered. The surgical tool's shape can be deformed according to a predefined profile leading to more versatile configurations than the existing designs. The efficiency of the overall system is investigated in experimental studies where its performance is evaluated by a customized 3D-video system.","PeriodicalId":146203,"journal":{"name":"2011 19th Mediterranean Conference on Control & Automation (MED)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2011-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"29","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 19th Mediterranean Conference on Control & Automation (MED)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MED.2011.5983225","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 29
Abstract
The development and experimental evaluation of a prototype endoscopic robotic surgical tool is presented in this article. Smart memory alloys (SMA) are used as wires in a tendon-driven actuation mechanism. The 2N-DOF redundant manipulator is a cascade configuration of N-universal joint modules. The kinematics of the tool is analyzed and simple yet effective controllers relying on a constrained non-linear optimization problem are offered. The surgical tool's shape can be deformed according to a predefined profile leading to more versatile configurations than the existing designs. The efficiency of the overall system is investigated in experimental studies where its performance is evaluated by a customized 3D-video system.
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