A Magnetically Actuated Variable Stiffness Manipulator Based on Deployable Shape Memory Polymer Springs

Continuum manipulators have found several applications in surgical interventions like endoscopy, laparoscopy, and as end-effectors for robots. coupled with magnetic actuation can be precisely maneuvered inside the human body. Recently, variable stiffness (VSMs) been introduced enhanced dexterity safe navigation. This study presents a new design of magnetically actuated VSM based on shape memory polymer (SMP) springs. The has silicone backbone enclosed within spring made SMP that change length is triggered by Joule heating. thermal characteristics are studied using analytical models experiments. Subsequently, one-segment two-segment having outer diameters 9 10 mm lengths 15 25 mm, respectively, capable extending to four times their designed. deployed compact form extended achieve bending curvatures soft rigid states, which facilitate instrument insertion reduce operation invasiveness. Potential clinical demonstrated incorporating miniature camera, biopsy tool, laser optical fiber working channel robotic actuation.