Design and characterization of a novel hybrid actuator using shape memory alloy and DC motor for minimally invasive surgery applications

摘要

Recent developments in the field of robotics, smart materials, micro actuators and mechatronics have opened a new frontier for innovation and development in millimeter scale actuators for use in medical robotics. In this paper a novel design idea for developing a millimeter scale actuator is presented for actuating the end effector of a robot performing minimally invasive surgery (MIS). This actuator is designed by combining DC motor and shape memory alloy (SMA) actuator in series. The designed actuator is 5 mm in diameter and 40 mm in length and is used to actuate 10 mm long needle driver jaws, while generating a force of 15 N and a gripping force of 5.5 N.