Title :
Design and experimental evaluation of an innovative SMA-based tendon-driven redundant endoscopic robotic surgical tool
Author :
Giataganas, P. ; Iou, N. Evangel ; Koveos, Y. ; Kelasidi, E. ; Tzes, A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Patras, Rio, Greece
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 27V-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.
Keywords :
endoscopes; intelligent materials; medical robotics; nonlinear programming; redundant manipulators; surgery; video signal processing; 27V-DOF redundant manipulator; 3D-video system; N-universal joint modules; constrained nonlinear optimization problem; innovative SMA-based tendon-driven robotic surgical tool; redundant endoscopic robotic surgical tool; robot-assisted minimally invasive surgery; smart memory alloys; tendon-driven actuation mechanism; Robots; Surgery; Tendons;
Conference_Titel :
Control & Automation (MED), 2011 19th Mediterranean Conference on
Conference_Location :
Corfu
Print_ISBN :
978-1-4577-0124-5
DOI :
10.1109/MED.2011.5983225
