A Dynamical Training and Design Simulator for Active Catheters

Dumont, Georges; Kuehl, Christofer

doi:10.5772/5815

Cited by 3 publications

(1 citation statement)

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“…A 25 μ m diameter Cu‐Constantan thermocouple was used to measure the temperature accurately. An active multi‐link, micro‐catheter actuated by SMA micro actuators was designed and modelled by Dumont and Kuehl (2004). Its design was optimized using genetic algorithm.…”

Section: Minimally Invasive Surgery and Colonoscopymentioning

confidence: 99%

Critical review of current trends in shape memory alloy actuators for intelligent robots

Muthuswamy

Nagarajan

Singaperumal

et al. 2007

Industrial Robot: An International Journal

171

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PurposeThe purpose of this paper is to review the current application areas of shape memory alloy (SMA) actuators in intelligent robotic systems and devices.Design/methodology/approachThis paper analyses how actuation and sensing functions of the SMA actuator have been exploited and incorporated in micro and macro robotic devices, developed for medical and non‐medical applications. The speed of response of SMA actuator mostly depends upon its shape and size, addition and removal of heat and the bias force applied. All these factors have impact on the overall size of the robotic device and the degree of freedom (dof) obtained and hence, a comprehensive survey is made highlighting these aspects. Also described are the mechatronic aspects like the software and hardware used in an industrial environment for the control of such nonlinear actuator and the type of sensory feedback devices incorporated for obtaining better control, positioning accuracy and fast response.FindingsSMA actuators find wide applications in various facets of robotic equipments. Selecting a suitable shape, fast heating and cooling method and better intelligent control technique with or without feedback devices could optimize its performance.Research limitations/implicationsThe frequency of SMA actuation purely depends on the rate of heat energy added to and removed from the actuator, which in turn depends upon interrelated nonlinear parameters.Practical implicationsFor increasing the dof of robots, number of actuators also have to be increased that leads to complex control problems.Originality/valueExplains the suitability of SMA as actuators in smart robotic systems, possibility of miniaturisation. It also highlights the difficulties faced by the SMA research community.

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Section: Minimally Invasive Surgery and Colonoscopymentioning

confidence: 99%

Critical review of current trends in shape memory alloy actuators for intelligent robots

Muthuswamy

Nagarajan

Singaperumal

et al. 2007

Industrial Robot: An International Journal

171

View full text Add to dashboard Cite

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Dynamics of Thermoelastic Media: Shape Memory Alloys

Vepa¹

2010

Dynamics of Smart Structures

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Layered elastic structures are usually subject to a variety of dynamic loads, including changes in temperature. Because the layers may possess varying thermo-mechanical properties, temperature changes would induce non-uniform stresses within the structure. Thus, the study of the thermoelasticity of such structures is of paramount importance. It is not enough to understand the influence of temperature changes on the state of stress in the structure, it is also essential to understand how the changes in the state of stress influence the temperature distributions within the structure. To be able to systematically model the constitutive relationships, it is essential to revisit the basic thermodynamic concepts (Vedantam, 2000) to establish the foundations of linear thermoelasticity. Basic Thermodynamic ConceptsThe first law of thermodynamics is essentially the statement of the principle of conservation of energy applied to thermodynamic systems. Thus, the variation in the internal energy of a thermodynamic system due to transformation of the state of the system U can be expressed in terms of the work W performed during the transformation and the amount of energy Q received by the system in forms other than work, as U = Q − W .The first law arose primarily to state the impossibility of constructing a machine that could create energy. It places no limitations on the possibility of transforming heat into work or work into heat, as they are different forms of energy. However, the second law explicitly places certain limitations on how much heat can be transformed to useful work. Thus, the second law of thermodynamics states that 'A transformation whose only final result is to transform into work, heat extracted from a source which is the same temperature throughout is impossible'. Alternatively, the second law may be stated as 'A transformation whose only final result is to transfer heat from a body at a given temperature to a body at a higher temperature is impossible'. This implies that only part of the heat that is absorbed by the system from the source at a higher temperature can be transformed to useful work and that the rest of the heat must be surrendered to the source at lower temperature. This leads naturally to the concept of entropy, and the second law could be stated as 'For any transformation occurring in an isolated system the entropy of the final state can never be less than that of the initial state'. Thus, if an isolated system is Dynamics of Smart StructuresRanjan Vepa

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Effect of stress on the thermal hysteresis of martensitic transformations - A continuum based particle dynamics model

Uchimali

2021

Mechanics of Advanced Materials and Structures

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A Dynamical Training and Design Simulator for Active Catheters

Abstract: This work addresses the design of an active multi-link micro-catheter actuated by

Cited by 3 publications

References 9 publications

Critical review of current trends in shape memory alloy actuators for intelligent robots

Critical review of current trends in shape memory alloy actuators for intelligent robots

Dynamics of Thermoelastic Media: Shape Memory Alloys

Effect of stress on the thermal hysteresis of martensitic transformations - A continuum based particle dynamics model

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