Shape-sensing by self-sensing of shape memory alloy instruments for minimal invasive surgery

IF 0.9 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

At-Automatisierungstechnik Pub Date : 2023-07-01 DOI:10.1515/auto-2023-0058

N. Fischer, Johannes Knapp, Franziska Mathis-Ullrich

引用次数: 0

Abstract

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 to estimate deflection of a 2D bending actuator using electrical resistance. The model accurately predicts deflections (mean error <3.6 mm), but force sensing augmentation is required for unknown load cases. The model is specific to the tested actuator geometry, and future research should investigate multiple actuators and explore nonlinear modeling approaches.

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用于微创手术的形状记忆合金仪器的形状传感

与被动刚性器械相比，基于形状记忆合金的柔性器械具有提高微创手术安全性的潜力。我们开发了一个数据驱动的多项式模型来估计使用电阻的二维弯曲驱动器的挠度。该模型准确地预测了挠度(平均误差<3.6 mm)，但对于未知负载情况，需要增强力传感。该模型是针对被测执行器几何形状的，未来的研究应该针对多个执行器并探索非线性建模方法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

At-Automatisierungstechnik 工程技术-自动化与控制系统

CiteScore

2.00

自引率

10.00%

发文量

审稿时长

6-12 weeks

期刊介绍： Automatisierungstechnik (AUTO) publishes articles covering the entire range of automation technology: development and application of methods, the operating principles, characteristics, and applications of tools and the interrelationships between automation technology and societal developments. The journal includes a tutorial series on "Theory for Users," and a forum for the exchange of viewpoints concerning past, present, and future developments. Automatisierungstechnik is the official organ of GMA (The VDI/VDE Society for Measurement and Automatic Control) and NAMUR (The Process-Industry Interest Group for Automation Technology). Topics control engineering digital measurement systems cybernetics robotics process automation / process engineering control design modelling information processing man-machine interfaces networked control systems complexity management machine learning ambient assisted living automated driving bio-analysis technology building automation factory automation / smart factories flexible manufacturing systems functional safety mechatronic systems.