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Design and Experimental Evaluation of a Tendon-Driven Minimally Invasive Surgical Robotic Tool with Antagonistic Control

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 Green open access

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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 > Provost and Vice Provost Offices
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 Computer Science
URI: https://discovery.ucl.ac.uk/id/eprint/10058930
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