Shape memory alloy reinforced 5 mm ultra-thin rigid link surgical instrument with force-feedback

摘要

We report the development of a rigid link surgical instrument for surgical robotics. The device is only 5 mm in diameter and equipped with a shape memory alloy for better gripping, which avoids the use of mechanical gears. This ultra-thin instrument has a unique force sensor mount at the gripper to capture forces as low as 288 mN from the surgical site. The gripper is controlled by a 0.5 mm cable that drives the 3-Degrees of Freedom movement for the dexterity. This mechanically robust instrument can pave the way for the realisation of compact and low cost surgical instruments for real world applications in medical robotics.