Compact flexible actuator based on a shape memory alloy for shaping surgical instruments
Abstract: Conventional flexible actuators for minimally invasive interventions come with complex and bulky actuation infrastructure. We present a proof-of-concept study of a compact flexible actuator with variable shape change featuring shape memory alloy wire loops in active-antagonist configurations for a bending and S-shape. The actuator was fabricated using heat-treated wire loops. The evaluation using optical marker tracking revealed a mean maximum absolute displacement at the distal tip of 19 mm and a force of 90 mN reached in under 15 s. For control, a closed-loop regime was evaluated with steady-state errors below 2°.
Flexible Aktuatoren für minimalinvasive Eingriffe benötigen häufig eine umfangreiche Infrastruktur zur Energieübertragung. Wir demonstrieren das Konzept eines kompakten, variablen Aktuators mit kontrollierbarer Formänderung. Er besteht aus zwei wärmebehandelten Drahtschleifen aus Formgedächtnislegierung in einer antagonistischen Konfiguration für eine reine Biegung und eine S-Form. Die Untersuchung der Formänderung mittels optischem Marker Tracking ergab eine mittlere maximale Auslenkung an der distalen Spitze von 19 mm und eine Kraft von 90 mN in weniger als 15 s. Im geschlossenen Regelkreis wurden stets stationäre Abweichungen unter 2° ermittelt.
- Weitere Titel
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Kompakt-flexible Aktuatoren aus Formgedächtnislegierung zur Formgebung chirurgischer Instrumente
- Standort
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Deutsche Nationalbibliothek Frankfurt am Main
- Umfang
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Online-Ressource
- Sprache
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Englisch
- Erschienen in
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Compact flexible actuator based on a shape memory alloy for shaping surgical instruments ; volume:71 ; number:7 ; year:2023 ; pages:547-553 ; extent:7
Automatisierungstechnik ; 71, Heft 7 (2023), 547-553 (gesamt 7)
- Urheber
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Fischer, Nikola
Mathis-Ullrich, Franziska
- DOI
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10.1515/auto-2023-0049
- URN
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urn:nbn:de:101:1-2023071714030682504383
- Rechteinformation
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Open Access; Der Zugriff auf das Objekt ist unbeschränkt möglich.
- Letzte Aktualisierung
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14.08.2025, 10:55 MESZ
Datenpartner
Deutsche Nationalbibliothek. Bei Fragen zum Objekt wenden Sie sich bitte an den Datenpartner.
Beteiligte
- Fischer, Nikola
- Mathis-Ullrich, Franziska
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