Self-sensing feedback control of multiple interacting shape memory alloy actuators in a 3D steerable active needle
Self-sensing feedback control of multiple interacting shape memory alloy actuators in a 3D steerable active needle
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DOI：
10.1177/1045389x20919971
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发表时间：
2020-06-03
影响因子：
2.7
通讯作者：
Konh, Bardia
中科院分区：
文献类型：
--
作者：
Karimi, Saeed;Konh, Bardia
经皮针刺介入是一种用于微创外科手术的技术，如近距离放射治疗、热消融和活组织检查。在这些程序中，目标的准确性是成功的决定性因素。主动针导引有可能在这类过程中增加靶向准确性，以改善临床结果。本文研制了一种新型的具有形状记忆合金驱动器的三维可控主动柔性针。分析了主动针在各种驱动场景下的响应，建立了运动学模型。通过对形状记忆合金执行器的驱动应变、电阻和所需电功率的表征，设计了一种用于主动针位置跟踪控制的自感知电阻反馈控制系统。首先在单个形状记忆合金执行器的位置跟踪控制中测试了控制系统的性能，然后在多个相互作用的形状记忆合金执行器上实现了对三维可控主动针沿参考路径的操纵。多个相互作用的形状记忆合金驱动器的电阻反馈控制使主动针能够到达约20 mm的平面工作空间中的目标点。结果表明，形状记忆合金具有更好的设计、表征和控制能力，有望替代用于外科器械的传统致动器。
Percutaneous needle-based intervention is a technique used in minimally invasive surgical procedures such as brachytherapy, thermal ablation, and biopsy. Targeting accuracy in these procedures is a defining factor for success. Active needle steering introduces the potential to increase the targeting accuracy in such procedures to improve the clinical outcome. In this work, a novel 3D steerable active flexible needle with shape memory alloy actuators was developed. Active needle actuation response to a variety of actuation scenarios was analyzed to develop a kinematic model. Shape memory alloy actuators were characterized in terms of their actuation strain, electrical resistance, and required electrical power to design a self-sensing electrical resistance feedback control system for position tracking control of the active needle. The control system performance was initially tested in position tracking control of a single shape memory alloy actuator and then was implemented on multiple interacting shape memory alloy actuators to manipulate the 3D steerable active needle along a reference path. The electrical resistance feedback control of the multiple interacting shape memory alloy actuators enabled the active needle to reach target points in a planar workspace of about 20 mm. Results demonstrated shape memory alloys as promising alternatives for traditional actuators used in surgical instruments with enhanced design, characterization, and control capabilities.