A shape memory alloy‐actuated surgical instrument with compact volume. Issue 4 (2nd December 2013)

• Record Type: Journal Article
• Authors: Shi, Zhen Yun; Liu, Da; Wang, Tian Miao
• Is Part Of: International journal of medical robotics and computer assisted surgery. Volume 10:Issue 4(2014)
• Page Start: 474
• Page End: 481
• Publication Date: 2013-12-02
• Subjects: Robotics in medicine -- Periodicals; Surgery -- Technological innovations -- Periodicals; Imaging systems in medicine -- Periodicals; 617.90285
• DOI: 10.1002/rcs.1558
• Languages: English
• ISSNs: 1478-5951

Abstract

<abstract abstract-type="main"> <title>Abstract</title> <sec id="rcs1558-sec-0001" sec-type="section"> <title>Background</title> <p>Surgical robotic systems have been proven to be accurate and dexterous during minimally invasive surgery (MIS). However, single incision laparoscopic surgery (SILS) requires more compact robotic arms with sufficient dexterity and output.</p> </sec> <sec id="rcs1558-sec-0002" sec-type="section"> <title>Methods</title> <p>A shape memory alloy (SMA)‐actuated instrument was adopted to assist operations. The instrument fixed at the slave site had three degrees of freedom (DOFs) and was driven by SMA wires, pitch, yaw, and grip, with an 8 mm diameter; a passive hydraulic support mechanism was placed <italic>in vitro</italic>.</p> </sec> <sec id="rcs1558-sec-0003" sec-type="section"> <title>Results</title> <p> <italic>In vitro</italic>, the maximum force, velocity and accuracy were proven to be sufficient for medical application. In an animal study, the system was inserted into the abdomen; three more generic constraints were tested: medical gesture, safety, and implementation.</p> </sec> <sec id="rcs1558-sec-0004" sec-type="section"> <title>Conclusions</title> <p>The robot was feasible and safe for multi‐angle monitoring, grasping, and holding an organ. The SMA‐actuated system was accurate and dexterous with minimal system volume. Copyright © 2013 John Wiley &amp; Sons, Ltd.</p> </sec> </abstract>