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ROBOTIC TOOLS AND INNOVATION

Robotic surgery constitutes the development of laparoscopic medicine and is used by specialized doctors across the entire spectrum of laparoscopic and "open" surgeries.

The goal of the research team of the Laboratory of Automation and Robotics, Department of Electrical and Computer Engineering (E & CE) of the School of Engineering at the University of Patras, was the construction of an innovative robotic system for minimally-invasive surgery, which includes redundant degrees of freedom (at least 24), motion activation with Shape Memory Alloys (totally silent operation), binocular machine vision (Awaiba stereoscopic imaging device) and flexibility in order for micro-injuries to be avoided during the surgery.

The team consists of the MA students, Georgios - Marios Papadopoulos and Nikos Evangeliou and the Professor of the Department of E & EC, Anthony Tzes. Their future goal is to construct a robotic surgery platform with multiple surgical tools.

Redesign of a Robotic Laparoscopic tool

THE DISTINGUISHED REDESIGN

The subject of the awarded master thesis is the design, the fabrication, the construction and the control of a surgical robotic tool with improved characteristics in comparison to the earlier version available.

The laparoscopic tool consists of cascaded links, which are powered by shape-memory alloy wires, acting as binary actuators with two stable states. Each link is composed of three prismatic actuators, creating a Stewart platform and providing a 3-DoF (three degrees of freedom) maneuverability for each joint. The electronics are embedded in the inner cavity of the links, in Master-Slave architecture.

The communication between the surgeon and the tool is achieved with I2 C - networked microcontrollers. In the distal link of the tool, there is a stereoscopic camera and an IMU board that offers orientation information as well as a force sensing system, that is able to be attached to the next version of the current tool. Moreover, certain design aspects as well as the kinematics of the binary manipulator are presented in simulation and experimental studies of the laparoscopic tool prototype.

AWARDS

Awards of the research team of the Laboratory of Automation and Robotics, Department of Electrical and Computer Engineering (E & CE), School of Engineering at University of Patras:
- First award in the Innovation Category at Imagine Cup, Microsoft Hellas, 2014.

Distinctions of the Master Thesis of the University of Patras MA student, Georgios - Marios Papadopoulos, entitled «Redesign of a Robotic Laparoscopic Tool», Patras, October 2014:
- Second award in the Future of Health category at Worldwide Academics Competition competition, 2015.
- Second award in the 2nd Hellenic Competition "Hellenic Startups in BioMed" by IEEE Greece Section and the Hellenic Startup Association, Patras, 2013.
- Funding by the Angelopoulos Clinton GIU Fellowship for the implementation of the proposal, 2014.
- Scholarship for participation in the World Congress ‘Clinton Global Initiative University’ (CGIU) in Phoenix, USA, 2014.

UNIVERSITY OF PATRAS

Anthony Tzes, Professor, Department of Electrical and Computer Engineering (E & CE).

Team members: Georgios-Marios Papadopoulos, Nikos Evangeliou.

Laboratory of Automation and Robotics, Department of Electrical and Computer Engineering (E & CE), School of Engineering, University of Patras.

University of Patras Angelopoulos CGIU Fellowship Video