A shape memory alloy-actuated surgical instrument with compact volume.

The international journal of medical robotics + computer assisted surgery : MRCAS Pub Date : 2014-12-01 Epub Date: 2013-12-02 DOI:10.1002/rcs.1558

Zhen Yun Shi, Da Liu, Tian Miao Wang

{"title":"A shape memory alloy-actuated surgical instrument with compact volume.","authors":"Zhen Yun Shi, Da Liu, Tian Miao Wang","doi":"10.1002/rcs.1558","DOIUrl":null,"url":null,"abstract":"Background: 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.Methods: 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 in vitro.Results: In vitro, 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.Conclusions: 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.","PeriodicalId":75029,"journal":{"name":"The international journal of medical robotics + computer assisted surgery : MRCAS","volume":"10 4","pages":"474-81"},"PeriodicalIF":0.0000,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1002/rcs.1558","citationCount":"19","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"The international journal of medical robotics + computer assisted surgery : MRCAS","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1002/rcs.1558","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"2013/12/2 0:00:00","PubModel":"Epub","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 19

Abstract

Background: 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.

Methods: 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 in vitro.

Results: In vitro, 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.

Conclusions: 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.

查看原文本刊更多论文

一种体积小巧的形状记忆合金驱动手术器械。

背景:手术机器人系统在微创手术(MIS)中被证明是准确和灵巧的。然而，单切口腹腔镜手术(SILS)需要更紧凑的机械臂，具有足够的灵活性和输出。方法:采用形状记忆合金(SMA)驱动仪辅助手术。固定在从位的仪器有三个自由度，由SMA丝、俯仰、偏航和握把驱动，直径为8mm;体外放置被动式液压支撑机构。结果:体外实验证明，最大作用力、速度和准确性足以满足医学应用。在一项动物研究中，该系统被插入腹部;还测试了另外三个通用约束:医疗姿态、安全性和实现。结论:该机器人可用于多角度监测、抓取和握住器官，安全可行。sma驱动系统精确灵巧，系统体积最小。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

The international journal of medical robotics + computer assisted surgery : MRCAS

CiteScore

5.30

自引率

0.00%

发文量