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A shape memory alloy‐actuated surgical instrument with compact volume
Author(s) -
Shi Zhen Yun,
Liu Da,
Wang Tian Miao
Publication year - 2014
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1558
Subject(s) - sma* , shape memory alloy , computer science , surgical instrument , simulation , volume (thermodynamics) , robot , actuator , artificial intelligence , surgery , medicine , physics , algorithm , quantum mechanics
Background Surgical robotic systems have been proven to be accurate and dexterous during minimally invasive surgery (MIS). However, single incision laparoscopic surgery (SILS) requires more compact robotic arms with sufficient dexterity and output. Methods A shape memory alloy (SMA)‐actuated instrument was adopted to assist operations. The instrument fixed at the slave site had three degrees of freedom (DOFs) and was driven by SMA wires, pitch, yaw, and grip, with an 8 mm diameter; a passive hydraulic support mechanism was placed in vitro . Results In vitro , the maximum force, velocity and accuracy were proven to be sufficient for medical application. In an animal study, the system was inserted into the abdomen; three more generic constraints were tested: medical gesture, safety, and implementation. Conclusions The robot was feasible and safe for multi‐angle monitoring, grasping, and holding an organ. The SMA‐actuated system was accurate and dexterous with minimal system volume. Copyright © 2013 John Wiley & Sons, Ltd.