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

这项小型企业技术转移第一阶段研究项目通过为微创手术中的操作员提供力反馈，扩展了新型灵巧内窥镜的能力。该项目以Microflex Scope(MFS)的传感、致动、制造和控制方面的创新为基础，并增加了集成力传感、设计、模拟和测试双边遥操作体系结构的能力，该体系结构适合独特的MFS形状记忆合金致动器特征，在典型程序中对组织进行用户评估，并初步设计出具有成本效益的力反馈操纵器。该项目研究了Microflex针尖中两种集成力传感的可行性，以及适用于Microflex器件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，还将设计一种经济高效的力反馈机械手。力反馈Microflex Scope技术将微创手术的范围扩展到以前无法触及的身体部位，同时提高了这些位置内窥镜运动的灵活性和控制。这使得以前不能手术的情况下有了新的外科手术程序。它还使现有的手术能够以更少的患者创伤进行，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。将受益的医学专业包括：神经学、新生儿科、肺科、胃肠科、泌尿科和鼻科。

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.