Abstract
Abstract Shape memory alloy-based flexible instruments have potential for enhancing the safety in minimally invasive surgery compared to passive rigid devices. We developed a data-driven polynomial model to estimate deflection of a 2D bending actuator using electrical resistance. The model accurately predicts deflections (mean error <3.6 mm), but force sensing augmentation is required for unknown load cases. The model is specific to the tested actuator geometry, and future research should investigate multiple actuators and explore nonlinear modeling approaches.
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