Shape Memory Alloy actuated arm for traversing complex trajectories

Steering and guiding an endoscope in a patient´s body has been a challenge for doctors for many years now. Present endoscopic technology allows passive bending of the scope by one or more cables attached to the tip. Bending motions of the tip of a conventional endoscope are controlled from outside the body by wire traction. Therefore, precise operation of the endoscope is difficult in areas of complex shape such as the intestine. Furthermore, patients suffer pain during a procedure with an endoscope. This paper aims at deciphering a solution for the above problems by introducing the concept of active bending of the endoscope with Shape Memory Alloy (SMA) micro-actuators. A Teflon prototype is developed to establish the concept. Many Teflon segments are connected with ball and socket joint and each segment bending is controlled independently which gives high degree of maneuverability to the device. The dexterous device prototype developed is capable of following complex trajectories and can steer tight bends. The same concept of bending can be extended to devices like borescopes, to be used for internal visualization of mechanical systems such as jet engines, turbines, satellites etc. These devices are again expected to follow complex trajectories with tight bends for visualization of specific areas within the highly integrated structure without dismantling.