Shape memory micro-actuation for a gastro-intestinal intervention system

被引：61

作者：

Reynaerts, D ^{[1
]}

Peirs, J ^{[1
]}

Van Brussel, H ^{[1
]}

机构：

[1] Katholieke Univ Leuven, Div Prod Engn Machine Design & Automat, B-3001 Heverlee, Belgium

来源：

SENSORS AND ACTUATORS A-PHYSICAL | 1999年 / 77卷 / 02期

关键词：

gastro-intestinal; shape memory alloy; micro-actuator; micro-electromechanical system; microvalve; minimal invasive surgery;

D O I：

10.1016/S0924-4247(99)00191-0

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper describes the design of a prototype gastro-intestinal intervention system based on an inchworm-type of mobile robot. This type of device is a kind of vehicle for inspection through the colon, something that is currently impossible due to the large number of turns in the intestinal system. Eventually, tools for intervention can be added in the future. The overall system is about 95 mm long and has a diameter of 15 mm. The robot consists of three main modules: an extension and contraction module, a two degree-of-freedom bending module and two locking modules. All these modules are to be actuated by shape memory elements. The main part of the paper describes a modular actuator for realising bending motion. The design can be compared to a single vertebra, where stacking several elements can form a spinal column. It will be shown that this design greatly facilitates the control. The electromechanical interconnection of the different parts was an integral part of the design as well as techniques for selectively addressing the different actuators. In order to increase the performance of the proposed design, the last part of the paper discusses some production aspects of the shape memory elements. (C) 1999 Elsevier Science S.A. All rights reserved.

引用

页码：157 / 166

页数：10

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