Shape-sensing by self-sensing of shape memory alloy instruments for minimal invasive surgery
نویسندگان
چکیده
Abstract Shape memory alloy-based flexible instruments have potential for enhancing the safety in minimally invasive surgery compared to passive rigid devices. We developed a data-driven polynomial model estimate deflection of 2D bending actuator using electrical resistance. The accurately predicts deflections (mean error <3.6 mm), but force sensing augmentation is required unknown load cases. specific tested geometry, and future research should investigate multiple actuators explore nonlinear modeling approaches.
منابع مشابه
Electrical Resistivity-Based Study of Self-Sensing Properties for Shape Memory Alloy-Actuated Artificial Muscle
Shape memory alloy (SMA) has great potential to develop light and compact artificial muscle (AM) due to its muscle-like high power-to-weight ratio, flexibility and silent operation properties. In this paper, SMA self-sensing properties are explored and modeled in depth to imitate the integrated muscle-like functions of actuating and self-sensing for SMA-AM based on the investigation of SMA elec...
متن کاملTracking Control of Shape-Memory-Alloy Actuators Based on Self-Sensing Feedback and Inverse Hysteresis Compensation
Shape memory alloys (SMAs) offer a high power-to-weight ratio, large recovery strain, and low driving voltages, and have thus attracted considerable research attention. The difficulty of controlling SMA actuators arises from their highly nonlinear hysteresis and temperature dependence. This paper describes a combination of self-sensing and model-based control, where the model includes both the ...
متن کاملAn Accurately Controlled Antagonistic Shape Memory Alloy Actuator with Self-Sensing
With the progress of miniaturization, shape memory alloy (SMA) actuators exhibit high energy density, self-sensing ability and ease of fabrication, which make them well suited for practical applications. This paper presents a self-sensing controlled actuator drive that was designed using antagonistic pairs of SMA wires. Under a certain pre-strain and duty cycle, the stress between two wires bec...
متن کاملSEISMIC OPTIMIZATION OF STEEL SHEAR WALL USING SHAPE MEMORY ALLOY
Nowadays, steel shear walls are used as efficient lateral-load-resistant systems due to their high lateral stiffness and carrying capacity. In this paper, the effect of substituting a shape memory alloy (SMA) material is investigated instead of using conventional steel in the shear wall. A numerical study is conducted using finite element method (FEM) by OpenSees software. For this purpose, at ...
متن کاملSensing Sugar’s Shape
Existing analytical methods generally lack the sensitivity to closely characterize the structural effects of changes in glycan modification patterns or how those changes alter interactions between a protein and its partners. Borgert et al. have tackled this challenge in a new study that pairs nuclear magnetic resonance and glycopeptide microarray binding studies to analyze Tn antigen-containing...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Automatisierungstechnik
سال: 2023
ISSN: ['2196-677X', '0178-2312']
DOI: https://doi.org/10.1515/auto-2023-0058