University of Twente Student Theses


Design of a surgical manipulator using smart materials

Tjepkema, W.W.A. (2021) Design of a surgical manipulator using smart materials.

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Abstract:Uncontrolled steering of a surgical tool during minimally invasive surgery can result in tissue damage and longer operation times. To improve the steering of a surgical tool, a new design for a so-called ’surgical manipulator’ has been developed with the use of smart materials. The use of shape memory alloys (SMAs) and shape memory polymers (SMPs) has been investigated for the development of the new surgical manipulator. Four concepts have been generalized with the use of SMAs which are actuated through the joule heating effect. The difference between the implementation of the one way shape memory effect (OWSME) and the two way shape memory effect (TWMSE) has been explored. Calculations on the shape memory effect, the critical shear stress, the achievable bending angle, the joule heating effect and the cooling down time have been made on the final design. Theoretically calculations are compared with the results from simulations of the final design, which are made in Comsol. The final design consists of three SMA springs which are programmed for the TWSME. The manipulator is able to bend in six different directions with a satisfactory actuation and recovery time.
Item Type:Essay (Bachelor)
Faculty:TNW: Science and Technology
Subject:33 physics, 42 biology, 44 medicine, 50 technical science in general, 51 materials science, 52 mechanical engineering
Programme:Biomedical Technology BSc (56226)
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