用于整形外科器械的基于形状记忆合金的紧凑型柔性致动器

IF 0.7 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

At-Automatisierungstechnik Pub Date : 2023-07-01 DOI:10.1515/auto-2023-0049

N. Fischer, Franziska Mathis-Ullrich

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引用次数: 0

摘要

摘要用于微创干预的传统柔性致动器具有复杂而庞大的致动基础设施。我们提出了一种具有可变形状变化的紧凑型柔性致动器的概念验证研究，该致动器具有弯曲和S形的主动对抗配置中的形状记忆合金线环。致动器是使用热处理的金属丝环制造的。使用光学标记跟踪的评估显示，远端的平均最大绝对位移为19 mm和90的力 mN在15岁以下达到 s.对于控制，评估了稳态误差低于2°的闭环状态。

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Compact flexible actuator based on a shape memory alloy for shaping surgical instruments

Abstract Conventional flexible actuators for minimally invasive interventions come with complex and bulky actuation infrastructure. We present a proof-of-concept study of a compact flexible actuator with variable shape change featuring shape memory alloy wire loops in active-antagonist configurations for a bending and S-shape. The actuator was fabricated using heat-treated wire loops. The evaluation using optical marker tracking revealed a mean maximum absolute displacement at the distal tip of 19 mm and a force of 90 mN reached in under 15 s. For control, a closed-loop regime was evaluated with steady-state errors below 2°.

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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.