Position Control and Force Estimation Method for Surgical Forceps Using SMA Actuators and Sensors

Resistance Feedback of a Ni-Ti Alloy Actuator at Room Temperature in Still Air

This paper illustrates an experimental activity for the closed-loop position control of an actuator made using shape memory alloy (SMA) wire. A solution with the self-sensing effect was implemented to miniaturize the systems, i.e., without external sensors. A proportional control algorithm was initially used, demonstrating the idea's feasibility; the wire can behave simultaneously as an actuator and sensor. An experimental investigation was subsequently conducted for the optimization of the developed actuator. As for the material, a Flexinol wire, Ni-Ti alloy, with a diameter of 0.150 mm and a length of 200 mm, was used. Preliminarily, characterization of the SMA wire at constant and variable loads was carried out; the characteristics detected were elongation vs. electric current and elongation vs. electrical resistance. The control system is PC based with a data acquisition card (DAQ). A drive board was designed and built to read the wire's electrical resistance and power it by pulse width modulation (PWM). A notable result is that the actuator works with good precision and in dynamic conditions, even when it is called to support a load up to 65% different from that for which the electrical resistance-length correlation has previously been experimentally obtained, on which the control is based. This opens up the possibility of using the actuator in a counteracting configuration with a spring, which makes hardware implementation and control management simple.

A Novel Master-Slave Interventional Surgery Robot with Force Feedback and Collaborative Operation

In recent years, master-slave vascular robots have been developed to address the problem of radiation exposure during vascular interventions for surgeons. However, the single visual feedback reduces surgeon immersion and transparency of the system. In this work, we have developed a haptic interface based on the magnetorheological fluid (MRF) on the master side. The haptic interface can provide passive feedback force with high force fidelity and low inertia. Additionally, the manipulation of the master device does not change the operating posture of traditional surgery, which allows the surgeon to better adapt to the robotic system. For the slave robot, the catheter and guidewire can be navigated simultaneously which allows the two degrees of action on the catheter and axial action of a guidewire. The resistance force of the catheter navigation is measured and reflected to the user through the master haptic interface. To verify the proposed master-slave robotic system, the evaluation experiments are carried out in vitro, and the effectiveness of the system was demonstrated experimentally.

Thermal-Optical Evaluation of an Optimized Trough Solar Concentrator for an Advanced Solar-Tracking Application Using Shape Memory Alloy

One of the modern methods for enhancing the efficiency of photovoltaic (PV) systems is implementing a solar tracking mechanism in order to redirect PV modules toward the sun throughout the day. However, the use of solar trackers increases the system's electrical consumption, hindering its net generated energy. In this study, a novel self-tracking solar-driven PV system is proposed. The smart solar-driven thermomechanical actuator takes advantage of a solar heat collector (SHC) device, in the form of a parabolic trough solar concentrator (PTC), and smart shape memory alloy (SMA) to produce effective mechanical energy for solar tracking applications from sun rays. Furthermore, a thermal-optical analysis is presented to evaluate the performance of the solar concentrator for the simulated weather condition of Dammam City, Saudi Arabia. The numerical results of the thermal and optical analyses show the promising feasibility of the proposed system in which SMA springs with an activation temperature between 31.09 °C and 45.15 °C can be utilized for the self-tracking operations. The work presented adds to the body of knowledge an advanced SMA-based SHC device for solar-based self-actuation systems, which enables further expansions within modern and advanced solar thermal applications.