SHAPE MEMORY ALLOY ACTUATOR CONTROL FOR 3D STEERING OF ACTIVE SURGICAL NEEDLE IN MINIMAL INVASIVE SURGERIES

Simple item page
dc.contributor.advisorKonh, Bardia
dc.contributor.authorKarimi, Saeed
dc.contributor.departmentMechanical Engineering
dc.date.accessioned2022-03-03T19:56:52Z
dc.date.available2022-03-03T19:56:52Z
dc.date.issued2021
dc.description.degreePh.D.
dc.identifier.urihttp://hdl.handle.net/10125/81650
dc.subjectMechanical engineering
dc.titleSHAPE MEMORY ALLOY ACTUATOR CONTROL FOR 3D STEERING OF ACTIVE SURGICAL NEEDLE IN MINIMAL INVASIVE SURGERIES
dc.typeThesis
dcterms.abstractMinimally Invasive Surgery (MIS) is defined as a surgical procedure that is associated with lower postoperative patient’s morbidity, compared to the conventional approach for the same diagnostic/therapeutic operation. Minimally invasive percutaneous interventional procedures for diagnostics and therapeutics are practiced in a variety of medical procedures such as brachytherapy, biopsy, and thermal ablation. The clinical outcome in such procedures is subjected to precise navigation and accurate placement of the needle at specific target locations within the soft tissue. Active needle steering increases the target placement accuracy, and consequently improves the clinical outcome. In this work, a 3D steerable active flexible needle with multiple interacting Shape Memory Alloy (SMA)-wire actuators is introduced. A self-sensing resistive-based feedback loop control system was designed and implemented to control the SMA’s actuation. The needle tip position was controlled through the feedback loop control system using the electrical resistance measurements of the SMA-wire actuators. Concomitant actuation and sensing capabilities of SMAs were used in the control system to realize a desired 3D motion at the needle tip. The controller was then tested on a 1:4 scaled prototype of the active needle for reference path tracking. This work demonstrates the 3D steerable active needle manipulation via precision control of interacting SMA-wire actuators.
dcterms.extent89 pages
dcterms.languageen
dcterms.publisherUniversity of Hawai'i at Manoa
dcterms.rightsAll UHM dissertations and theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission from the copyright owner.
dcterms.typeText
local.identifier.alturihttp://dissertations.umi.com/hawii:11195

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
Karimi_hawii_0085A_11195.pdf
Size:
3.66 MB
Format:
Adobe Portable Document Format
Download

Collections

Ph.D. - Mechanical Engineering