ICRA 2012 Paper Abstract


Paper TuD06.2

Ryu, Seok Chang (Stanford University), Quek, Zhan Fan (Stanford University), Renaud, Pierre (LSIIT, Strasbourg University), Black, Richard J. (Intelligent Fiber Optic Systems Corporation), Daniel, Bruce (Stanford University, Department of Radiology), Cutkosky, Mark (Stanford University)

An Optical Actuation System and Curvature Sensor for a MR-Compatible Active Needle

Scheduled for presentation during the Regular Session "Needle Steering" (TuD06), Tuesday, May 15, 2012, 16:45−17:00, Meeting Room 6 (Oya'te)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 15, 2018

Keywords Medical Robots and Systems


A side optical actuation method is presented for a slender MR-compatible active needle. The needle includes an active region with a shape memory alloy (SMA) wire actuator, where the wire generates a contraction force when optically heated by a laser delivered though optical fibers, producing needle tip bending. A prototype, with multiple side heating spots, demonstrates twice as fast an initial response compared to fiber tip heating when 0.8 W of optical power is applied. A single-ended optical sensor with a gold reflector is also presented to measure the curvature independently of temperature as a function of optical transmission loss. Preliminary tests with the sensor prototype demonstrate approximately linear response and a repeatable signal, independent of the bending history.



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