Control System of Multidirectional Bending Robotic Device Using SMA Wires for Laser Irradiation During Transurethral Lithotripsy

Abstract

The difficulty of transurethral ureterolithotripsy while operating in a complex and elaborate structure of the urinary system hinders surgeons from using a ureteroscope with a fixed optical fiber to reach the targeted calculus. A continuum-robotic device is proposed to position laser irradiation independently in ureteroscopes actuated by three slackened shape memory alloy (SMA) wires. The deformation of SMA wires is driven by the joule heat generated by electrical current. An adjustable constant current source was fabricated to provide triple power outputs for SMA tendons.