A Distributed SMA Actuator System and Associated Self-Guiding Control Strategy for a Scalable Endoscope Steering Device
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.
KeywordsShape Memory Alloy NiTi Alloy Local Controller Shape Memory Alloy Actuator Resistive Torque
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