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Analytical modeling of a Minimally Invasive Surgery grasper actuated by shape memory alloy wires

Shahriari, M ; Sharif University of Technology | 2013

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  1. Type of Document: Article
  2. DOI: 10.1109/ICRoM.2013.6510096
  3. Publisher: 2013
  4. Abstract:
  5. Minimally Invasive Surgery (MIS) is getting common these days. MIS robots using special tools can perform surgery precisely as humans. This is only possible with dexterous end-effectors and a well-controlled system. Local, lightweight and powerful actuators positioned at end-effectors provide the ability to decrease the degrees of freedom and simplify the design. This paper discusses a grasper design actuated by Shape Memory Alloy (SMA) wires that can be used in MIS robotics. The properties of a commercially available shape memory alloy are explored and analytical formulations for the actuation procedure are developed. The grasper actuated by SMA wires is studied and the procedure of grasping is discussed. It is shown that this grasper can perform well in robotic surgery
  6. Keywords:
  7. Analytical formulation ; Minimally invasive surgery ; MIS robot ; Robotic surgery ; Shape memory alloy wire ; SMA wire ; Robotics ; Shape memory effect ; Surgery ; Wire ; Surgical equipment
  8. Source: International Conference on Robotics and Mechatronics, ICRoM 2013 ; Feb , 2013 , Pages 147-151 ; 9781467358118 (ISBN)
  9. URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6510096