We have designed, developed, and evaluated the performance of a multi-degree-of-freedom discretely actuated steerable cannula with shape-memory alloy (SMA) actuators. This will enable us to deliver diagnostic as well as therapeutic devices to the target location through the hollow inner core of the cannula. We propose to use SMAs to generate bending forces due to its small size and high power density. We annealed the SMA wires through a customized training process in an arc shape and mounted them at discrete locations on the outer surface of the cannula to enable joint motion. A pulse-width modulation (PWM)-based control scheme was implemented to control all SMA actuators simultaneously to enable multiple joint motion using a single power supply. The proposed controller was validated through an experiment inside gelatin to mimic the motion of the cannula inside a medium which requires a significant amount of force to move the joints of the cannula. Trajectory planning using a suitable metric and trajectory execution were successfully implemented. To demonstrate the delivery of a diagnostic tool through our cannula, we demonstrate that we can pass an optical coherence tomography probe through the cannula and perform in situ microscale imaging.
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