NDLI: Towards a discretely actuated steerable cannula

Content Provider	IEEE Xplore Digital Library
Author	Ayvali, E. Desai, J.P.
Copyright Year	2012
Description	Author affiliation: Robotics, Automation, and Medical Systems (RAMS) Laboratory, Maryland Robotics Center, Institute for Systems Research, Department of Mechanical Engineering, University of Maryland, College Park, USA (Ayvali, E.; Desai, J.P.)
Abstract	Several percutaneous needle-based and intravascular procedures require guidance of the diagnostic or therapeutic tool to the target location by maneuvering the needle or catheter to correct for the error in reaching the target location. Hence, in this paper we present our work towards developing a discretely actuated steerable needle/cannula with multiple degrees-of-freedom to ‘steer’ the cannula by discrete actuation along the cannula length. We are interested in using the cannula to introduce both diagnostic and therapeutic tools, which may otherwise be difficult to deliver to the appropriate location. We use two antagonistic SMA wires as actuators to generate the required bending forces at each joint. SMA wires were annealed through a customized training process to an arc shape and mounted in the machined grooves on the outer surface of the cannula to generate local bending upon thermal actuation. We propose to use temperature feedback to control the position of the SMA actuators. To use temperature feedback as the feedback signal for enabling individual joint actuation, we had to fully characterize the SMA actuator. Classical uniaxial testing devices and experimental setup used in characterizing straight annealed SMA wires are not applicable in this work since the SMA wire is annealed in an arbitrary shape. Hence, we also present an experimental setup and a procedure for characterizing an SMA actuator that transforms into an arc shape upon thermal actuation.
Starting Page	1614
Ending Page	1619
File Size	964038
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225312
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wires Actuators Strain Stress Needles Annealing Shape
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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