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Development and Experimental Evaluation of a 3DoF Tendon-Driven Probe for Robot Assisted Minimally Invasive Surgical Operations
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-9685-1026
Electrical & Computer Engineering, New York University Abu Dhabi, Abu Dhabi, United Arab Emirates.
Center for Artificial Intelligence and Robotics, New York University Abu Dhabi, Abu Dhabi, United Arab Emirates.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2023 (English)In: 2023 International Conference on Control, Automation and Diagnosis, ICCAD, Institute of Electrical and Electronics Engineers Inc. , 2023Conference paper, Published paper (Refereed)
Abstract [en]

Robotic surgery has been an upcoming scientific area for many years. However, several limitations have restricted the use of robotic surgery to a confined field of operations. In this context, the development and experimental evaluation of a novel prototype laparoscopic robotic surgical tool, that can expand the capabilities of the existing surgical robotic devices, is discussed in this article. Servo-motors are used as actuators in a tendon-driven actuation mechanism. The 3 Degree-of-Freedom (DoF) manipulator is a cascade configuration of three rotational joint modules, imitating the motions of a spherical wrist. The design, fabrication, and kinematics of the tool are presented, while the efficiency of the overall system is investigated through experimental studies, using an Inertial Measurement Unit (IMU) sensing modality as external reference.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 2023.
Series
International Conference on Control, Automation and Diagnosis, ISSN 2767-987X, E-ISSN 2767-9896
Keywords [en]
Biomedical Robotics, MIRS, Robotic Arm, Surgical Robots
National Category
Robotics
Research subject
Robotics and Artificial Intelligence
Identifiers
URN: urn:nbn:se:ltu:diva-99497DOI: 10.1109/ICCAD57653.2023.10152334Scopus ID: 2-s2.0-85164103040ISBN: 979-8-3503-4708-1 (print)ISBN: 979-8-3503-4707-4 (electronic)OAI: oai:DiVA.org:ltu-99497DiVA, id: diva2:1787146
Conference
2023 International Conference on Control, Automation and Diagnosis, ICCAD 2023, May 10-12, 2023, Rome, Italy
Available from: 2023-08-11 Created: 2023-08-11 Last updated: 2023-08-11Bibliographically approved

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Seisa, Achilleas SantiNikolakopoulos, George

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