DocumentCode :
2385317
Title :
Characterization of SMA actuator for applications in robotic neurosurgery
Author :
Ho, Mingyen ; Desai, Jaydev P.
Author_Institution :
Robot., Autom., Manipulation, & Sensing (RAMS) Lab., Univ. of Maryland, College Park, MD, USA
fYear :
2009
fDate :
3-6 Sept. 2009
Firstpage :
6856
Lastpage :
6859
Abstract :
Shape memory alloy has been proven to be MRI compatible and due to its unique microstructure and molecular characteristics, it possesses many unique properties. Additionally, internal resistive heating of the wires eliminates the need for bulky external heating mechanisms. These advantages make SMA actuators good candidates for a wide range of applications in robotic surgical systems when compared to conventional actuators. In this paper, we present our preliminary work towards the development of a SMA based miniature robot for neurosurgery which can be operated under MRI. In this robot, we use two antagonistic SMA wires as actuators for each joint, so that each joint can be operated separately. We also designed an experimental setup to test the SMA wires. The goal of this experiment is to develop a systematic test especially for this robot and to collect sufficient data to estimate the performance of the robot. This setup can also be used to test SMA wires themselves. The data from this experiment will be used to determine important material parameters that are required for analytical models, and then use those models to develop a control strategy to manipulate the SMA actuators.
Keywords :
alloys; biomedical materials; medical robotics; shape memory effects; surgery; MRI compatible SMA; SMA actuator characterisation; SMA based miniature robot; antagonistic SMA wires; internal resistive heating; robotic neurosurgery applications; robotic surgical systems; shape memory alloy; Alloys; Equipment Design; Humans; Materials Testing; Neurosurgery; Robotics; Surgical Procedures, Minimally Invasive; Temperature;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Engineering in Medicine and Biology Society, 2009. EMBC 2009. Annual International Conference of the IEEE
Conference_Location :
Minneapolis, MN
ISSN :
1557-170X
Print_ISBN :
978-1-4244-3296-7
Electronic_ISBN :
1557-170X
Type :
conf
DOI :
10.1109/IEMBS.2009.5333118
Filename :
5333118
Link To Document :
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