No 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 D.C motor and shape memory alloy (SMA) actuator in series. The designed actuator is 5mm in diameter and 40mm in length and is used to actuate 10mm long needle driver jaws, while generating a force of 15N and a gripping force of 5.5N. Index TermsMedical robotics, millimeter scale actuators, minimally invasive surgery, shape memory alloy actuator.