A novel variable-stiffness flexible manipulator actuated by shape memory alloy for minimally invasive surgery

Area of Science:

• Robotics
• Biomedical Engineering
• Materials Science

Background:

• Minimally invasive surgery demands instruments with adaptable stiffness for enhanced maneuverability and safety.
• Existing surgical manipulators often lack the ability to dynamically adjust their stiffness, limiting their application in complex procedures.

Purpose of the Study:

• To present a novel variable-stiffness flexible manipulator designed for minimally invasive surgery.
• To detail the design, modeling, and experimental validation of a manipulator module actuated by shape memory alloy.

Main Methods:

• Conceptual design and development of a modular manipulator system.
• Modeling of elastic modulus and thermo-electric properties of shape memory alloy actuators.
• Finite element method simulations for performance analysis.
• Experimental characterization of shape memory alloy wire and manipulator module stiffness.

Main Results:

• Successful fabrication and characterization of a single manipulator module.
• Demonstration of variable stiffness control through shape memory alloy actuation.
• Theoretical and experimental validation of the manipulator's stiffness properties.

Conclusions:

• The proposed variable-stiffness flexible manipulator, actuated by shape memory alloy, is well-suited for minimally invasive surgery.
• The study provides a comprehensive analysis of the manipulator's design, enabling future development of advanced surgical tools.