Purpose: The complex and elaborate structure of the urinary system presents surgeons with difficulty in using a ureteroscope with a fixed optical fiber to reach the targeted calculus. To address this challenge, a robotic device is required to control the direction of laser irradiation position independently in ureteroscopes.
Method: A continuum robotic device was designed and fabricated. The device is constructed with three slackened shape memory alloy (SMA) wires to control the laser irradiation position of the optical fiber combined with the view of the camera on the tip of the ureteroscope. Kinematics analysis and experimental evaluation reveal the capability of the device.
Results: The structure of the device is the same as a single-joint continuum robot. This device is unique because of the tiny diameter of 1.1 mm which can be used inside the ureteroscope through a Ø1.2 mm inner channel into the kidney for transurethral ureterolithotripsy. Kinematic analysis revealed the relationship among space coordinates, angles of bending, and direction and SMA wires length. The maximum bending angle was around 25° when the current value was 350 mA on a single SMA wire. The device could achieve multi-directional bending by allocating the values of current on SMA wires, separately.
Conclusion: This device offers a major advancement in small size and dexterity in medical robotics. Combined with a proper control system, this device could simplify the operation and improve the efficiency of the transurethral ureterolithotripsy.
Download full-text PDF |
Source |
|---|---|
| http://dx.doi.org/10.1007/s11548-022-02756-3 | DOI Listing |
Publication Analysis
Top Keywords
Similar Publications
Wearable Haptics for Orthotropic Actuation Based on Perpendicularly Nested Auxetic SMA Knotting.
Adv Mater
January 2025
National Creative Research Initiative for Functionally Antagonistic Nano-Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon, 34142, Republic of Korea.
Smart wearable tactile systems, designed to deliver different types of touch feedback on human skin, can significantly improve engagement through diverse actuation patterns in virtual or augmented reality environments. Here, a perpendicularly nested auxetic wearable haptic interface is reported for orthotropically decoupled multimodal actuation (WHOA), capable of producing diverse tactile feedback modes with 3D sensory perception. WHOA incorporates shape memory alloy wires that are intricately knotted into an auxetic structure oriented along orthotropic dual axes.
View Article and Find Full Text PDFProof of Concept of a New Revision Procedure for Ceramic Inlays of Acetabular Cups Using a Shape-Memory Alloy Actuator System.
Bioengineering (Basel)
August 2024
Fraunhofer Institute for Machine Tools and Forming Technology IWU, 01187 Dresden, Germany.
The revision of ceramic inlays of acetabular cups is a challenging surgical procedure. The mechanical impact during the inlay extraction process can damage the ceramic or metal cup rim. To avoid these risks, a concept for a new revision procedure was developed.
View Article and Find Full Text PDF[Design of nonlinear locking mechanism for shape memory alloy archwire of miniature orthodontic device].
Sheng Wu Yi Xue Gong Cheng Xue Za Zhi
August 2024
School of Civil Engineering and Transportation, South China University of Technology, Guangzhou 510640, P. R. China.
The locking mechanism between bracket and shape memory alloy (SMA) archwire in the newly developed domestic orthodontic device is the key to controlling the precise alignment of the teeth. To meet the demand of locking force in clinical treatment, the tightening torque angle of the locking bolt and the required torque magnitude need to be precisely designed. For this purpose, a design study of the locking mechanism is carried out to analyze the correspondence between the tightening torque angle and the locking force and to determine the effective torque value, which involves complex coupling of contact, material and geometric nonlinear characteristics.
View Article and Find Full Text PDFPilot study on the feasibility of shape memory alloy implantation for Vancouver type B1 periprosthetic femoral fractures in a canine model: a step toward advancing treatment modalities.
J Orthop Surg Res
August 2024
Department of Veterinary Clinical Sciences, College of Veterinary Medicine and Research Institute for Veterinary Science, Seoul National University, Seoul, 08826, Korea.
Background: Cerclage wiring is commonly used for treating fractures; however, it has several limitations, including mechanical weakness, decreased blood circulation, and technical complexity. In this study, we developed an implant using a shape memory alloy (SMA) and tested its efficacy in treating Vancouver type B1 (VB1) periprosthetic femoral fractures (PFFs) in a canine model.
Methods: The mid-diaphyseal fracture models underwent reduction via the SMA plate (SMA group) or the cerclage cable plate (cable group) method in randomly selected pelvic limbs.
Surface Treatment Strategies and Their Impact on the Material Behavior and Interfacial Adhesion Strength of Shape Memory Alloy NiTi Wire Integrated in Glass Fiber-Reinforced Polymer Laminate Structures.
Materials (Basel)
July 2024
Group of Composites and Material Compounds (PVW), Institute of Materials Science and Engineering (IWW), Chemnitz University of Technology, 09125 Chemnitz, Germany.
Over the past few decades, there has been a growing trend in designing multifunctional materials and integrating various functions into a single component structure without defects. This research addresses the contemporary demand for integrating multiple functions seamlessly into thermoplastic laminate structures. Focusing on NiTi-based shape memory alloys (SMAs), renowned for their potential in introducing functionalities like strain measurement and shape change, this study explores diverse surface treatments for SMA wires.
View Article and Find Full Text PDFWant AI Summaries of new PubMed Abstracts delivered to your In-box?
Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!