STTR Phase I: Force Feedback Control of a Shape Memory Alloy Active Catheter for Minimally Invasive Micro-Surgery

该小型企业技术转让I期研究项目通过在微创手术中向操作者提供力反馈来扩展新型灵巧内窥镜的能力。该项目建立在MicroFlex范围（MFS）的传感，致动，制造和控制方面的创新基础上，并增加了适用于独特的MFS形状记忆合金致动器特性的双边遥操作架构的集成力传感，设计，仿真和测试的能力，代表性程序中的组织用户评估，以及具有成本效益的力反馈操纵的初步设计。该项目研究了MicroFlex头端中两种类型的集成力传感的可行性，以及适用于MicroFlex器械中形状记忆合金驱动的力反馈架构和控制设计。根据模拟和测试结果确定的要求，还将设计具有成本效益的力反馈操纵器。力反馈MicroFlex内窥镜技术将微创手术的范围扩展到以前无法到达的身体部位，同时提高了这些部位内窥镜运动的灵活性和控制。这使得新的外科手术能够用于以前无法手术的情况。它还使现有的手术能够在较少的患者创伤下进行，减少不适和恢复时间，并允许在门诊和办公室环境中进行更多的手术，而不是在昂贵的手术室中进行。受益的医学专科包括：神经病学、泌尿学、肺病学、胃肠病学、泌尿学和泌尿学。

This Small Business Technology Transfer Phase I research project extends the capability of a novel dexterous endoscope by providing force feedback to the operator in minimally invasive surgery. The project builds on innovations in sensing, actuation, manufacturing, and control of the MicroFlex Scope (MFS) and adding capabilities for integrated force sensing, design, simulation, and testing of a bilateral teleoperation architecture suited to the unique MFS shape memory alloy actuator characteristics, user evaluation on tissue in representative procedures, and preliminary design of a cost effective force feedback manipulative. The project investigates the feasibility of two types of integrated force sensing in the MicroFlex tip, as well as force feedback architectures and control designs appropriate to the shape memory alloy actuation in the MicroFlex device. Design of a cost-effective force feedback manipulative will also be carried out, based on the requirements determined from the simulation and test results.Force Feedback MicroFlex Scope technology extends the reach of minimally invasive surgery to previously inaccessible locations in the body, and simultaneously improves the dexterity and control of endoscope motions in those locations. This enables new surgical procedures for previously inoperable conditions. It also enables existing procedures to be conducted with less patient trauma, reducing discomfort and recovery time, and allowing many more procedures to be conducted in outpatient and office settings, rather than in expensive operating rooms. Medical specialties that would benefit include: neurology, neonatology, pulmonology, gastroenterology, urology, and rhinology.