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Pilot study of SMA-based expansion device for transanal endoscopic microsurgery

The article discusses the key technologies of SMA-based expansion device for transanal endoscopic microsurgery including 3D-reconstruction of rectum model, expansion device design, drive system design, control algorithm research. The preliminary experimental platform is constructed, and the performance of drive system, the SMA memory effect and control algorithm are tested and evaluated. The experiments not only demonstrate the drive system and control method can work in controlling the expansion device robustly and accurately, but also verify the feasibility and validity of the scheme applying shape memory alloy in expansion device for transanal endoscopic microsurgery.