Title :
A Novel SMA-Based Actuator for a Legged Endoscopic Capsule
Author :
Gorini, S. ; Quirini, M. ; Menciassi, A. ; Pernorio, G. ; Stefanini, C. ; Dario, P.
Author_Institution :
CRIM Lab., Scuola Superiors Sant´´Anna, Pontedera
Abstract :
This paper describes the design, modelling and fabrication of a shape memory alloy micro-actuation concept for application in an endoscopic capsule. The constraints of the actuators are discussed based on the planned integration in a swallowable capsule and a preliminary concept of a legged system with shape memory alloy actuation is presented and tested. Based on the preliminary results, a modelling of the system is given in order to optimize the actuator design in terms on length, diameter, angle and force. Thus, a new high performance prototype is developed and characterized, thus verifying the theoretical model
Keywords :
biomedical optical imaging; endoscopes; microactuators; shape memory effects; SMA-based actuator; actuator design; legged endoscopic capsule; microactuation concept; planned integration; shape memory alloy; swallowable capsule; Actuators; Biomedical imaging; Fabrication; Gastrointestinal tract; Laboratories; Leg; Medical diagnostic imaging; Prototypes; Shape memory alloys; System testing;
Conference_Titel :
Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on
Conference_Location :
Pisa
Print_ISBN :
1-4244-0040-6
DOI :
10.1109/BIOROB.2006.1639128
