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

Author

Kode, Venkata Raghavaiah Chowdhary ; Cavusoglu, M. Cenk ; Azar, Massood Tabib

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA

Volume

1

fYear

2005

Firstpage

416

Abstract

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.

Keywords

DC motors; end effectors; intelligent materials; medical robotics; microrobots; 10 mm; 40 mm; 5 mm; DC motor; end effector; hybrid actuator; medical robotics; millimeter scale actuators; minimally invasive surgery; shape memory alloy actuator; DC motors; End effectors; Intelligent actuators; Intelligent robots; Mechatronics; Medical robotics; Microactuators; Minimally invasive surgery; Shape memory alloys; Technological innovation;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626583

Filename

1626583