J. Phys. IV France
Volume 12, Numéro 11, décembre 2002
Page(s) 19 - 26

J. Phys. IV France
12 (2002) Pr11-19
DOI: 10.1051/jp4:20020471

Design and control of micro robotic systems for micro-manipulation and minimally invasive surgery

P. Bidaud and J.-C. Guinot

Laboratoire de Robotique de Paris, Université de Paris 6, FRE 2507 du CNRS, 10 avenue de l'Europe, 78140 Velizy, France

The first part of this paper describes a micro-nano manipulation system designed for the experimental verification of adhesion based manipulation of objects smaller than 300  $\mu$m in open-air. Manipulation parameters are selected from simulation of a mode1 of manipulation dynamics which incorporate microphysics effects.

The second part describes an original active steering device for endoscopes. Its mechanical structure is based on a tubular hyper-redundant mechanism. Distributed shape memory alloy (SMA) actuators with their own local controller are integrated in this structure for producing bending forces in reaction to the interaction detected between the instrument and its environment.

© EDP Sciences 2002