Title :
Toward evaluation of shape memory alloy actuators for endosurgery
Author :
Koehn, Kaari ; Payandeh, Shahram
Author_Institution :
Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
Abstract :
Previous work in control of shape memory alloy actuators is examined and re-evaluated for possible application to design of tools for endosurgery. Flexible and rigid robotic links actuated by shape memory alloy are constructed and their behavior evaluated to determine and develop suitable control algorithms. The application of these links to electrically controlled surgical instruments such as graspers is discussed
Keywords :
force control; intelligent actuators; intelligent materials; manipulators; position control; shape memory effects; surgery; endosurgery; force control; graspers; manipulators; position control; robotic links; shape memory alloy actuators; surgical instruments; Actuators; Circuit simulation; Endoscopes; Feedback; Force control; Microactuators; Minimally invasive surgery; SPICE; Shape memory alloys; Wire;
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
DOI :
10.1109/ICSMC.1995.538070
