Design and Characterization of a Novel Hybrid Actuator Using Shape Memory Alloy and DC Micromotor for Minimally Invasive Surgery Applications

The end-effectors in the state-of-the-art robotic tools for minimally invasive surgery (MIS) are actuated by actuator packs located outside the patient's body, with the power transmitted from the actuator pack to the end-effector by means of sliding link or tendon-driven mechanisms. This method...

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Bibliographic Details
Published in:	IEEE/ASME transactions on mechatronics Vol. 12; no. 4; pp. 455 - 464
Main Authors:	Kode, V.R.C., Cavusoglu, M.C.
Format:	Journal Article
Language:	English
Published:	New York IEEE 01-08-2007 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Actuation Actuators Design Design engineering Direct current Drivers Laparoscopes Medical robotics Micromotors millimeter-scale actuators Minimally invasive surgery minimally invasive surgery (MIS) Needles Power transmission Robotic assembly Robots shape memory alloy (SMA) actuator Shape memory alloys Wrist
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