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Articles

Shape memory alloy reinforced 5 mm ultra-thin rigid link surgical instrument with force-feedback

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Pages 453-460 | Received 26 Jan 2018, Accepted 04 Nov 2018, Published online: 04 Jan 2019
 

Abstract

We report the development of a rigid link surgical instrument for surgical robotics. The device is only 5 mm in diameter and equipped with a shape memory alloy for better gripping, which avoids the use of mechanical gears. This ultra-thin instrument has a unique force sensor mount at the gripper to capture forces as low as 288 mN from the surgical site. The gripper is controlled by a 0.5 mm cable that drives the 3-Degrees of Freedom movement for the dexterity. This mechanically robust instrument can pave the way for the realisation of compact and low cost surgical instruments for real world applications in medical robotics.

Disclosure statement

No potential conflict of interest was reported by the authors.

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