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An Optical Actuation System and Curvature Sensor for a MR-compatible Active Needle
Seok Chang Ryu1, Zhan Fan Quek1, Pierre Renaud2
1Center for Design Research, Stanford University, Stanford, CA, USA.
IEEE International Conference on Robotics and Automation : ICRA : [Proceedings]. IEEE International Conference on Robotics and Automation
|October 29, 2015
Summary
A new optical actuation method uses laser-heated shape memory alloy (SMA) wires for active needle steering. This method offers faster response times and includes an optical sensor for precise curvature measurement.
Area of Science:
- Biomedical Engineering
- Materials Science
- Robotics
Background:
- Minimally invasive surgery requires precise instrument control.
- Active needles offer enhanced maneuverability for complex procedures.
- Existing actuation methods may have limitations in MRI environments.
Purpose of the Study:
- To present a novel side optical actuation method for an MR-compatible active needle.
- To demonstrate improved response time using side heating spots.
- To introduce an integrated optical sensor for real-time curvature monitoring.
Main Methods:
- Utilizing shape memory alloy (SMA) wire actuators within the needle.
- Employing laser-based optical heating delivered via optical fibers for actuation.
- Developing a single-ended optical sensor with a gold reflector to measure bending.
- Comparing side heating spots versus fiber tip heating for actuation speed.
Main Results:
- The side optical actuation method achieved a twice as fast initial response compared to fiber tip heating at 0.8 W optical power.
- The integrated optical sensor demonstrated an approximately linear response to needle curvature.
- The sensor signal proved repeatable and independent of the needle's bending history.
Conclusions:
- Side optical actuation is an effective method for controlling MR-compatible active needles.
- The developed system offers enhanced speed and precise curvature sensing capabilities.
- This technology holds promise for improving steerability in image-guided interventions.
