Compact flexible actuator based on a shape memory alloy for shaping surgical instruments

Fischer N, Mathis-Ullrich F (2023)

Publication Type: Journal article

Publication year: 2023

Journal

At-Automatisierungstechnik Oldenbourg Verlag

Book Volume: 71

Pages Range: 547-553

Journal Issue: 7

DOI: 10.1515/auto-2023-0049

Abstract

Conventional flexible actuators for minimally invasive interventions come with complex and bulky actuation infrastructure. We present a proof-of-concept study of a compact flexible actuator with variable shape change featuring shape memory alloy wire loops in active-antagonist configurations for a bending and S-shape. The actuator was fabricated using heat-treated wire loops. The evaluation using optical marker tracking revealed a mean maximum absolute displacement at the distal tip of 19 mm and a force of 90 mN reached in under 15 s. For control, a closed-loop regime was evaluated with steady-state errors below 2°.

Authors with CRIS profile

Franziska Mathis-Ullrich Professur für Robotische Planung und Kognition in der Chirurgie

Involved external institutions

Karlsruhe Institute of Technology (KIT) DE Germany (DE)

How to cite

APA:

Fischer, N., & Mathis-Ullrich, F. (2023). Compact flexible actuator based on a shape memory alloy for shaping surgical instruments. At-Automatisierungstechnik, 71(7), 547-553. https://doi.org/10.1515/auto-2023-0049

MLA:

Fischer, Nikola, and Franziska Mathis-Ullrich. "Compact flexible actuator based on a shape memory alloy for shaping surgical instruments." At-Automatisierungstechnik 71.7 (2023): 547-553.

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