Development of a Meso-Scale SMA-Based Torsion Actuator for Image-Guided Procedures.
Development of a Meso-Scale SMA-Based Torsion Actuator for Image-Guided Procedures.
复制标题
DOI：
10.1109/tro.2016.2623348
复制
发表时间：
2017-02
期刊：
影响因子：
--
通讯作者：
Desai JP
中科院分区：
文献类型：
--
作者：
Sheng J;Gandhi D;Gullapalli R;Simard JM;Desai JP
This paper presents the design, modeling, and control of a meso-scale torsion actuator based on shape memory alloy (SMA) for image-guided surgical procedures. Developing a miniature torsion actuator is challenging, but it opens the possibility of significantly enhancing the robot agility and maneuverability. The proposed torsion actuator is bi-directionally actuated by a pair of antagonistic SMA torsion springs through alternate Joule heating and natural cooling. The torsion actuator is integrated into a surgical robot prototype to demonstrate its working performance in the humid environment under C-Arm CT image guidance.
