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Romansy 13 pp 447-455 | Cite as

A Distributed SMA Actuator System and Associated Self-Guiding Control Strategy for a Scalable Endoscope Steering Device

  • Philippe Bidaud
  • Jérôme Szewczyk
  • Nelly Troisfontaine
  • Jean-Claude Guinot
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)

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.

Keywords

Shape Memory Alloy NiTi Alloy Local Controller Shape Memory Alloy Actuator Resistive Torque 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Philippe Bidaud
    • 1
  • Jérôme Szewczyk
    • 1
  • Nelly Troisfontaine
    • 1
  • Jean-Claude Guinot
    • 1
  1. 1.Laboratoire de Robotique de ParisUniversité de Paris 6France

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