Development of a Meso-Scale Scale SMA SMA-Based Based Torsion Actuator for Image-Guided Image Procedures
Abstract: This paper presents the design, modeling, and control of a meso-scale meso torsion actuator based on shape memory alloy (SMA) for image image-guided guided surgical procedures. Developing a miniature torsion actuator is challenging, but it opens the possibility of significantly enhancing the robot agility and maneuverability. The proposed sed torsion actuator is bidirectionally actuated by a pair of antagonistic SMA torsion springs through alternate Joule heating and natural cooling. The torsion actuator is integrated into a surgical robot prototype to demonstrate its working performance in the humid environment under C C-Arm Arm CT image guidance.