Micro active catheter system with multi degrees of freedom

Author

Fukuda, Toshio ; Guo, Shuxiang ; Kosuge, Kazuhiro ; Arai, Fumihito ; Negoro, Makoto ; Nakabayashi, K.

Author_Institution

Dept. of Mechno-Inf. & Syst., Nagoya Univ., Japan

fYear

1994

fDate

8-13 May 1994

Firstpage

2290

Abstract

In this paper, we propose a new prototype model of serial-parallel type of active micro catheter (MAC) with two bending degrees of freedom. It is 4 Fr, 5 Fr and 6 Fr (1 Fr=1/3 mm) in diameter and consist of 3 active units incorporating SMA wires in lumina as the servo actuator. The bending motion, bending direction and bending angle of the MAC have been measured by application of electricity in air and in physiological saline solution. We also modeled this MAC. Experimental results show that the model of the MAC is reasonable for practical applications. By using simulators (conditions similar to a body cavity), we carried out the simulation experiments of “in vitro” and “in vivo”. The experimental results indicate that the proposed MAC is applicable to intracavity operations

Keywords

biomedical equipment; computerised control; microactuators; micromechanical devices; servomechanisms; shape memory effects; 1.3333333333333 mm; 1.6666666666667 mm; 2 mm; SMA wires; intracavity operations; lumina; micro active catheter system; multiple degrees of freedom; serial-parallel system; servo actuator; Actuators; Catheters; In vitro; In vivo; Medical diagnostic imaging; Medical simulation; Prototypes; Resistance heating; Voltage; Wires;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Conference_Location

San Diego, CA

Print_ISBN

0-8186-5330-2

Type

conf

DOI

10.1109/ROBOT.1994.350944

Filename

350944