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- W2890810007 abstract "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." @default.
- W2890810007 created "2018-09-27" @default.
- W2890810007 creator A5048765370 @default.
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- W2890810007 date "2018-05-01" @default.
- W2890810007 modified "2023-09-24" @default.
- W2890810007 title "A Hybrid Actuated Robotic Prototype for Minimally Invasive Surgery" @default.
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- W2890810007 doi "https://doi.org/10.1109/icra.2018.8460640" @default.
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