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

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3 Author(s)
V. R. C. Kode ; Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA ; M. C. Cavusoglu ; M. T. Azar

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.

Published in:

IEEE International Conference Mechatronics and Automation, 2005  (Volume:1 )

Date of Conference:

29 July-1 Aug. 2005