Modeling and characterization of shape memory alloy springs with watern cooling strategy in a neurosurgical robot

摘要

Since shape memory alloy has a high power density and is magneticn resonance imaging compatible, it has been chosen as the actuator for then meso-scale minimally invasive neurosurgical intracranial robotn (MINIR-II) that is envisioned to be operated under continuous magneticn resonance imaging guidance. We have devised a water cooling strategy ton improve its actuation frequency by threading a silicone tube through then spring coils to form a compact cooling module-integrated actuato