A human-in-the-loop controlled shape memory alloy actuated robotic probe for minimally invasive surgical procedures

摘要

In this paper the design and positioning efficiency tests of a robotic endoscope prototype for Minimally Invasive Surgical (MIS) operations are presented. The manufactured probe features twelve Degrees-of-Freedom (DoF), using universal joints and links in a redundant configuration. For actuation, Shape Memory Alloys (SMAs) are used in a smart configuration, alongside custom manufactured electronics for real-time motion monitoring. Preliminary in vitro experiments are presented in an attempt to investigate the efficiency of the robot in typical surgical manoeuvres.