Shape memory alloy bending actuator for catheter with movable link and guide wires

Abstract

This paper proposes two kinds of novel bending actuator using three links, two shape memory alloy coil-type springs and guide wires. One is a macro model for one directional bending actuator, the other is a micro model for two directional bending actuator. By heating the two shape memory alloy coil-type springs sequentially, bending and stretching motion of the actuator is possible. The performance of the actuator has been characterized for the possible application to catheters.