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JRM Vol.34 No.6 pp. 1233-1244
doi: 10.20965/jrm.2022.p1233
(2022)

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Micro-Robotic Medical Tools Employing SMA Actuators for Use in the Human Body

Yoichi Haga*1,*4, Takashi Mineta*2, Tadao Matsunaga*3, and Noriko Tsuruoka*4

*1Graduate School of Biomedical Engineering, Tohoku University
6-6-01 Aramaki Aza-Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan

*2Graduate School of Science and Engineering, Yamagata University
4-3-16 Jonan, Yonezawa, Yamagata 992-8510, Japan

*3Faculty of Engineering, Tottori University
4-101 Koyama, Minami, Tottori-shi, Tottori 680-8552, Japan

*4Graduate School of Engineering, Tohoku University
6-6-01 Aramaki Aza-Aoba, Aoba-ku, Sendai, Miyagi 980-8579, Japan

Received:
July 7, 2022
Accepted:
August 26, 2022
Published:
December 20, 2022
Creative Commons License
Keywords:
shape memory alloy (SMA), catheter, guide wire, flexible endoscope, manipulation
Abstract

Several micro-robotic medical tools, including catheters, guide wires, and endoscopes, employing shape memory alloy (SMA) actuators have been proposed and developed for use in the human body. This paper describes the basic principle of SMAs and the characteristics of several mechanisms, such as unidirectional bending, multi-directional bending, torsional movement, extension, and stiffness control. Moreover, some medical applications, such as insertion assistance and endoscopic and laser positioning, are described.

Multi-directional active bending catheter

Multi-directional active bending catheter

Cite this article as:
Y. Haga, T. Mineta, T. Matsunaga, and N. Tsuruoka, “Micro-Robotic Medical Tools Employing SMA Actuators for Use in the Human Body,” J. Robot. Mechatron., Vol.34 No.6, pp. 1233-1244, 2022.
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References
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Last updated on Apr. 22, 2024