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

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 mum in open-air. Manipulation parameters are selected from simulation of a model 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.