Abstract
This paper describes an original active steering device for endoscopes and boroscopes. Its mechanical structure is based on a tubular hyper-redundant mechanism. Distributed SMA actuators with their own local controller are integrated in this structure for producing bending forces in reaction to the interaction detected between the instrument and its environment. The SMA actuators are two thin NiTi springs in an antagonist configuration. Joint actuation relies on martensite/austenite phase transformation in NiTi alloys. The global behavior of the endoscope is controlled through a multi-agent approach.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
P. Dario, C. Paggetti, N. Troisfontaine, E. Papa, T. Guicci, T. Carrozzon, and M. Marcacci. A miniature steerable end-effector for application in an integrated system for computer-assisted arthroscopy. In International Conference on Robotics and Automation, pages 1573–1579. IEEE, 1997.
D. Duhaut. Using a multi-agent approach to solve the inverse kinematics. In Intelligent Robot and System Conference, IROS, pages 2002–2007, 1993.
J. Müglitz and J. Schönherr. Miniaturized mechanisms–joint design, modeling, example. In Tenth World Congress on Theory of Machines and Mechanisms, pages 848–855, 1999.
N. Troisfontaine Ph. Bidaud and M. Larnicol. Optimal design of micro-actuators based on sma wires. Smart Materials and Structures, 8: 197–203, 1999.
A. Yusa. Tubular manipulator with multi-degrees of freedom. Micro Machine Center Journal, 19, 1998.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2000 Springer-Verlag Wien
About this paper
Cite this paper
Bidaud, P., Szewczyk, J., Troisfontaine, N., Guinot, JC. (2000). A Distributed SMA Actuator System and Associated Self-Guiding Control Strategy for a Scalable Endoscope Steering Device. In: Morecki, A., Bianchi, G., Rzymkowski, C. (eds) Romansy 13. International Centre for Mechanical Sciences, vol 422. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2498-7_48
Download citation
DOI: https://doi.org/10.1007/978-3-7091-2498-7_48
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-2500-7
Online ISBN: 978-3-7091-2498-7
eBook Packages: Springer Book Archive