A three-degree-of-freedom actuator was implemented using shape memory metals (SMA) for two-dimensional movement. In its design, a CAD software used, analyzing the movements made by ball joint, obtaining conical body with circular base. For movement, one-way SMA spring arrangement as opposed to two-way one displacement in each of XY axes, and rotation means bearing coupled axis that allows direc...

Localization of magnetically actuated medical robots is essential for accurate actuation, closed loop control and delivery functionality. Despite extensive progress in the use magnetic field inertial measurements pose estimation, these have been either under single external permanent magnet actuation or coil systems. With advent new systems comprised multiple magnets increased manipulability, l...