Scholarlink

<p>Shape memory alloy (SMA)-based actuators are quite commonly used in conjunction with flexible manipulators and find great potential in medical applications due to their excellent biocompatibility, decent maintainability, and ease in actuation through Joule heating. One of the potential applications of SMA-based flexible manipulators is the optical irradiation of superficial (surface) tumors for plasmonic photothermal therapeutics. This requires manipulating an optical fiber bundle to irradiate the tumor surface with near-infrared radiation. Motivated by this novel application, this paper proposes a working prototype of a flexible tube manipulator that demonstrates its capability to follow the trajectories of a superficial tumor for its irradiation. The flexible manipulator’s design mechanics are based on a constant curvature assumption. The tracking capabilities are realized through a compatible robust controller to actuate two pairs of antagonistically arranged SMA springs. Trajectory tracking performance of the proposed manipulator is verified through experiments. Compared to the earlier works, the SMA constitutive model with memory parameters has been considered in this work while developing the mathematical model that supports the inherent path dependence capabilities of SMA. The experimental results confirm that the proposed manipulator can track the commonly encountered 2D tumor trajectories like circle, oval and concentric circles with a maximum positioning error of only 7.2%. On the other hand, the most difficult 2D trajectory such as an irregular trajectory that includes multiple sharp turns is traceable by the developed manipulator with a maximum positioning error of 15%. The reasonable accuracy of the developed manipulator confirms the applicability of the proposed concept for tumor irradiation. Compared to other similar work with continuum manipulators, our results report tracking of a few new trajectories like concentric and irregular trajectories which confirm the applicability of the antagonistic SMA actuator for tumor irradiation and allied applications.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Trajectory tracking control of shape memory alloy actuated flexible tube manipulator for tumor irradiation applications

  • 期刊论文

  • 发表日期：

    2025年3月22日

查看全文
  • Nisha Bhatt,
  • Sanjeev Soni,
  • Ashish Singla

摘要

Shape memory alloy (SMA)-based actuators are quite commonly used in conjunction with flexible manipulators and find great potential in medical applications due to their excellent biocompatibility, decent maintainability, and ease in actuation through Joule heating. One of the potential applications of SMA-based flexible manipulators is the optical irradiation of superficial (surface) tumors for plasmonic photothermal therapeutics. This requires manipulating an optical fiber bundle to irradiate the tumor surface with near-infrared radiation. Motivated by this novel application, this paper proposes a working prototype of a flexible tube manipulator that demonstrates its capability to follow the trajectories of a superficial tumor for its irradiation. The flexible manipulator’s design mechanics are based on a constant curvature assumption. The tracking capabilities are realized through a compatible robust controller to actuate two pairs of antagonistically arranged SMA springs. Trajectory tracking performance of the proposed manipulator is verified through experiments. Compared to the earlier works, the SMA constitutive model with memory parameters has been considered in this work while developing the mathematical model that supports the inherent path dependence capabilities of SMA. The experimental results confirm that the proposed manipulator can track the commonly encountered 2D tumor trajectories like circle, oval and concentric circles with a maximum positioning error of only 7.2%. On the other hand, the most difficult 2D trajectory such as an irregular trajectory that includes multiple sharp turns is traceable by the developed manipulator with a maximum positioning error of 15%. The reasonable accuracy of the developed manipulator confirms the applicability of the proposed concept for tumor irradiation. Compared to other similar work with continuum manipulators, our results report tracking of a few new trajectories like concentric and irregular trajectories which confirm the applicability of the antagonistic SMA actuator for tumor irradiation and allied applications.