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Related Experiment Video

Updated: May 4, 2026

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

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

Zhen Yun Shi¹, Da Liu, Tian Miao Wang

¹Robotic Laboratory, BeiHang University, HaiDian District, 37 XueYuan Road, Beijing, 100191, China.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|December 31, 2013

Summary

This study presents a compact, shape memory alloy (SMA)-actuated robotic system for single incision laparoscopic surgery (SILS). The system demonstrated feasibility, safety, and dexterity for surgical tasks, offering a promising solution for minimally invasive procedures.

Keywords:

minimally invasive surgery (MIS)robotic surgery shape memory alloy actuator single incision laparoscopic surgery (SILS)

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Area of Science:

Robotics in Medicine
Minimally Invasive Surgery
Biomedical Engineering

Background:

Surgical robotic systems enhance accuracy and dexterity in minimally invasive surgery (MIS).
Single incision laparoscopic surgery (SILS) necessitates more compact robotic arms with high dexterity and output.
Existing robotic systems may face limitations in size and maneuverability for SILS.

Purpose of the Study:

To develop and evaluate a compact robotic instrument for SILS.
To assess the dexterity, accuracy, and safety of a shape memory alloy (SMA)-actuated system.
To determine the feasibility of the robotic system for surgical applications in an animal model.

Main Methods:

An 8 mm diameter instrument utilizing shape memory alloy (SMA) wires for actuation was designed.
The instrument provided three degrees of freedom (DOFs): pitch, yaw, and grip.
A passive hydraulic support mechanism was incorporated, and the system was tested in vitro and in an animal study.

Main Results:

In vitro testing confirmed sufficient force, velocity, and accuracy for medical applications.
The system demonstrated feasibility and safety during an animal study, meeting medical gesture, safety, and implementation constraints.
The SMA-actuated robot proved capable of multi-angle monitoring, grasping, and organ manipulation.

Conclusions:

The developed SMA-actuated robotic system is feasible and safe for SILS.
The system offers high accuracy and dexterity within a minimal volume.
This technology represents a significant advancement for robotic-assisted single incision laparoscopic surgery.