Evangeliou, N;
Dimitrakakis, E;
Tzes, A;
(2017)
Design and Experimental Evaluation of a Tendon-Driven Minimally Invasive Surgical Robotic Tool with Antagonistic Control.
In:
2017 IEEE Conference on Control Technology and Applications (CCTA).
(pp. pp. 463-467).
IEEE
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Abstract
The design, implementation and experimental evaluation of a minimally invasive surgical robotic instrument is presented in this article. The tool is constructed using rapid prototyping techniques and each degree-of-freedom is actuated via an antagonistic tendon driven mechanism using servo motors. The accompanying software runs under the Robot Operating System framework. The kinematics of the tool are discussed and the efficiency of the system is investigated in experimental studies, which are showcased in order to assess its potential use in a clinical environment.
| Type: | Proceedings paper |
|---|---|
| Title: | Design and Experimental Evaluation of a Tendon-Driven Minimally Invasive Surgical Robotic Tool with Antagonistic Control |
| Event: | 1st Annual IEEE Conference on Control Technology and Applications, 27-30 August 2017, Mauna Lani, HI, USA |
| Location: | HI |
| Dates: | 27 August 2017 - 30 August 2017 |
| ISBN-13: | 978-1-5090-2182-6 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/CCTA.2017.8062505 |
| Publisher version: | https://doi.org/10.1109/CCTA.2017.8062505 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Tendons, Tools, Robot sensing systems, Minimally invasive surgery, Instruments, Kinematics |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10058930 |
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