A SMA-actuated miniature pressure regulator for a miniature robot for colonoscopy
A SMA-actuated miniature pressure regulator for a miniature robot for colonoscopy
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DOI：
10.1016/s0924-4247(03)00086-4
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发表时间：
2003-07-15
影响因子：
4.6
通讯作者：
Dario, P
中科院分区：
文献类型：
--
作者：
Carrozza, MC;Arena, A;Dario, P
本文描述了一种由形状记忆合金（SMA）致动器驱动的比例微型阀，主要用于内窥镜（特别是结肠镜）的半自动设备。与现有的阀门相比，新型微型阀门具有良好的工作压力范围（0- 200kpa）、尺寸、重量和响应时间。阐述了微型阀的机械结构和精细比例控制。分析了提高微型阀门整体性能的一些创新特征（例如，增加热交换的废物管道）。对该微型阀进行了流体和热仿真。原型机已经制造出来并进行了测试。实验结果与理论模型预测的性能相吻合。在微型结肠镜检查机器人样机中安装了微型阀门，并初步用于控制机器人的运动参数。(C) 2003 Elsevier Science B.V.版权所有
This paper describes a proportional minivalve actuated by shape memory alloy (SMA) actuators and designed primarily for application in semi-autonomous devices for endoscopy (colonoscopy, in particular). As compared to existing valves, the new minivalve exhibits favourable values of working pressure range (0-200 kPa), size, weight and response time. The mechanical structure and the fine proportional control of the minivalve are illustrated. Some innovative features which improve the overall performance of the minivalve (e.g. a waste conduit which increases thermal exchange) an, analysed. Fluidic and thermal simulations of the minivalve are presented. Prototypes have been fabricated and tested. Experimental results compare favourably with the performance predicted by the theoretical model. A minivalve has been incorporated in a prototype miniature robot for colonoscopy and preliminarily used to control the locomotion parameters of the robot. (C) 2003 Elsevier Science B.V. All rights reserved.