Compact flexible actuator based on a shape memory alloy for shaping surgical instruments

Abstract Conventional flexible actuators for minimally invasive interventions come with complex and bulky actuation infrastructure. We present a proof-of-concept study of compact actuator variable shape change featuring memory alloy wire loops in active-antagonist configurations bending S-shape. The was fabricated using heat-treated loops. evaluation optical marker tracking revealed mean maximum absolute displacement at the distal tip 19 mm force 90 mN reached under 15 s. For control, closed-loop regime evaluated steady-state errors below 2°.