A hybrid actuated robotic prototype for minimally invasive surgery

被引：0

作者：

Evangeliou, Nikolaos ^{[1
]}

Tzes, Anthony ^{[1
]}

机构：

[1] New York Univ Abu Dhabi, Elect & Comp Engn, Abu Dhabi 129188, U Arab Emirates

来源：

2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2018年

关键词：

Minimally Invasive Surgery; Robot Assisted Surgery; Shape Memory Alloy actuation; Visual Servoing; Medical Imaging; SHAPE-MEMORY ALLOY; PLATFORM; HYSTERESIS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents the design and experimental evaluation of a prototype robotic platform for minimally invasive surgical procedures. The platform utilizes a hybrid actuation scheme, consisting of a 5 Degree-of-Freedom (DoF) servo-actuated manipulator for extra-operative and pivoting motion and a 4 DoF shape memory alloy actuated probe at the distal end, for intra-operative dexterity. The architecture targets thoracic and abdominal operations, with low interaction forces at the probe's end-effector. The system, runs under the Robot Operating System framework for easier deployment and development. Additional accompanying software is developed to aid the surgeon during deployment. Specifically, a Graphical User Interface employing modules controls for online parameter reconfiguration, operation mode switching while custom viewports for stereo imaging are implemented. Teleoperation is feasible with the integration of a haptic device. In-vitro evaluation of the robot is presented, to assess the maneuvering efficiency and further potential exploitation of the design.

引用

页码：1386 / 1391

页数：6

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