形状記憶合金ワイヤーを用いた低侵襲医療用一方向能動屈曲機構とワイヤーの電気抵抗変化を用いたフィードバック制御

カテゴリ: 論文誌(論文単位)

グループ名: 【E】センサ・マイクロマシン部門

発行日: 2015/10/01

タイトル(英語): One Directional Active Bending Mechanism Using Shape Memory Alloy Wire for Minimally Invasive Medicine and Feedback Control by Changing in Electrical Resistance of Wire

著者名: 小林　拓生（東北大学大学院工学研究科 バイオロボティクス専攻），松永　忠雄（東北大学マイクロシステム融合研究開発センター），芳賀　洋一（東北大学大学院工学研究科 バイオロボティクス専攻／東北大学大学院医工学研究科 医工学専攻）

著者名(英語): Takumi Kobayashi (Graduate School of Engineering, Tohoku University), Tadao Matsunaga (Micro System Integration Center, Tohoku University), Yoichi Haga (Graduate School of Engineering, Tohoku University/Graduate School of Biomedical Engineering, Tohoku University)

キーワード: 能動屈曲機構，形状記憶合金ワイヤー，Ni-Ti合金，フィードバック制御　　Active bending mechanism，Shape Memory Alloy wire，Ni-Ti alloy，Feedback control

要約(英語): The bending mechanism of a conventional endoscope operates by drawing wires from outside the human body. The shaft structure of endoscopes is relatively complex to avoid buckling caused by wire traction. In this study, one directional bending mechanisms using shape memory alloy (SMA) wires have been developed for minimally invasive medicine. A large bending angle was accomplished by positioning a working point of driven SMA wires near a center point of the mechanism and by surrounding the SMA wires and an inner tube by helical thin metal wire. External diameter and length of the bending part of the mechanism are 4.1 mm and 35 mm respectively. The curvature radius of the fabricated device is 20 mm while maintaining the surface temperature of the device under 41℃ in environmental temperature (38℃). Servo control has been considered to be suitable for the application of active bending mechanisms as micro robots. Feedback control by changing in the electrical resistance of the SMA wire was utilized for precise and safty actuation.

本誌: 電気学会論文誌E（センサ・マイクロマシン部門誌） Vol.135 No.10 （2015）

本誌掲載ページ: 393-398 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejsmas/135/10/135_393/_article/-char/ja/