Towards A Discretely Actuated Steerable Cannula for Diagnostic and Therapeutic Procedures.
Towards A Discretely Actuated Steerable Cannula for Diagnostic and Therapeutic Procedures.
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DOI：
10.1177/0278364912442429
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发表时间：
2012-04
期刊：
影响因子：
--
通讯作者：
Desai JP
中科院分区：
文献类型：
--
作者：
Ayvali E;Liang CP;Ho M;Chen Y;Desai JP
我们设计、开发并评估了一种带有形状记忆合金（SMA）致动器的多自由度离散驱动可操纵套管的性能。这将使我们能够将诊断设备和治疗设备通过中空的管内核心输送到目标位置。由于其体积小，功率密度高，我们建议使用sma来产生弯曲力。我们通过定制的训练过程将SMA钢丝退火成弧形，并将其安装在套管外表面的离散位置，以实现关节运动。采用基于脉宽调制（PWM）的控制方案，同时控制所有SMA致动器，实现单电源下多个关节运动。通过明胶内部实验验证了所提出的控制器，以模拟导管在介质中的运动，该介质需要大量的力来移动导管的关节。采用合适的度量进行弹道规划，并成功地实现了弹道执行。为了演示通过我们的导管提供诊断工具，我们展示了我们可以将光学相干断层扫描探头通过导管并进行原位微尺度成像。
We have designed, developed, and evaluated the performance of a multi-degree-of-freedom discretely actuated steerable cannula with shape memory alloy (SMA)actuators. This will enable us to deliver diagnostic as well as therapeutic devices to the target location through the hollow inner core of the cannula. We propose to use SMAs to generate bending forces due to its small size and high power density. We annealed the SMA wires through a customized training process in arc shape and mounted them at discrete locations on the outer surface of the cannula to enable joint motion. A pulse width modulation(PWM)-based control scheme was implemented to control all SMA actuators simultaneously to enable multiple joint motion using a single power supply. The proposed controller was validated through an experiment inside gelatin to mimic the motion of the cannula inside a medium which requires a significant amount of force to move the joints of the cannula. Trajectory planning using a suitable metric and trajectory execution were successfully implemented. To demonstrate the delivery of a diagnostic tool through our cannula, we demonstrate that we can pass an optical coherence tomography probe through the cannula and perform in situ micro-scale imaging.
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DOI：
10.1109/tro.2009.2035740
发表时间：
2010-04-01
期刊：
IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society
影响因子：
--
作者：
Dupont PE;Lock J;Itkowitz B;Butler E
通讯作者：
Butler E
影响因子：
6.4
作者：
Dutta, SM;Ghorbel, FH
通讯作者：
Ghorbel, FH
影响因子：
4.1
作者：
Price, A. D.;Jnifene, A.;Naguib, H. E.
通讯作者：
Naguib, H. E.
影响因子：
1.6
作者：
Churchill, C. B.;Shaw, J. A.;Iadicola, M. A.
通讯作者：
Iadicola, M. A.
DOI：
10.1299/jsmea1988.34.1_83
发表时间：
1991-01-01
期刊：
JSME INTERNATIONAL JOURNAL SERIES I-SOLID MECHANICS STRENGTH OF MATERIALS
影响因子：
--
作者：
TOBUSHI, H;TANAKA, K
通讯作者：
TANAKA, K