Compact flexible actuator based on a shape memory alloy for shaping surgical instruments-Reference-Cited by-同舟云学术

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

Published:2023-07-01 Issue:7 Volume:71 Page:547-553
ISSN:0178-2312
Container-title:at - Automatisierungstechnik
language:en
Short-container-title:

Author:

Fischer Nikola¹^ORCID,Mathis-Ullrich Franziska²

Affiliation:

1. Institute for Anthropomatics and Robotics (IAR), Karlsruhe Institute of Technology (KIT) , 76131 Karlsruhe , Germany

2. Department Artificial Intelligence in Biomedical Engineering (AIBE) , Friedrich-Alexander University Erlangen-Nürnberg (FAU) , 91052 Erlangen , Germany

Abstract

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

Publisher

Walter de Gruyter GmbH

Subject

Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering

Link

https://www.degruyter.com/document/doi/10.1515/auto-2023-0049/pdf

Reference21 articles.

1. K. Imaizumi, S. Homma, Y. Miyaoka, et al.., “Exploration of the advantages of minimally invasive surgery for clinical T4 colorectal cancer compared with open surgery: a matched-pair analysis,” Medicine, vol. 101, no. 32, p. e29869, 2022. https://doi.org/10.1097/md.0000000000029869.

2. S. Peikert, C. Kunz, N. Fischer, et al.., “Automated linear and non-linear path planning for neurosurgical interventions,” in 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 7731–7737.

3. J. Burgner-Kahrs, D. C. Rucker, and H. Choset, “Continuum robots for medical applications: a survey,” IEEE Trans. Robot., vol. 31, no. 6, pp. 1261–1280, 2015. https://doi.org/10.1109/tro.2015.2489500.

4. B. Siciliano and O. Khatib, Springer Handbook of Robotics, Cham, Springer, 2016.

5. G. S. Chirikjian and J. W. Burdick, “A hyper-redundant manipulator,” IEEE Robot. Autom. Mag., vol. 1, pp. 22–29, 1994. https://doi.org/10.1109/100.388263.