Research on the axis shape of an active catheter
Background An active catheter is a minimally invasive surgery catheter that can perform deflectable motions. The active catheter can be controlled from outside the body and moves like a snake, utilizing a multi‐joint mechanism with distributed shape memory alloy (SMA) actuators. Methods It was consi...
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Published in | The international journal of medical robotics + computer assisted surgery Vol. 4; no. 1; pp. 69 - 76 |
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Main Authors | , , , , |
Format | Journal Article |
Language | English |
Published |
Chichester, UK
John Wiley & Sons, Ltd
01.03.2008
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Subjects | |
Online Access | Get full text |
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Summary: | Background
An active catheter is a minimally invasive surgery catheter that can perform deflectable motions. The active catheter can be controlled from outside the body and moves like a snake, utilizing a multi‐joint mechanism with distributed shape memory alloy (SMA) actuators.
Methods
It was considered that the deflection curve of the axis of the catheter is determined by the output force of the SMA actuators. Based on the large deflection theory, the deflection curve equation of the axis of the catheter was derived, using the precise form of the curvature.
Results
Through experimentation, the axial bending curve shape of the blended active catheter was measured precisely, and the experimental results were compared with the calculation results obtained from the large deflection theory and the circular arc hypothesis. The experimental results show that the curves calculated by large deflection theory are very close to the actual axis curves.
Conclusions
An active catheter prototype has been designed using the theory presented in this paper. Utilizing a vascular model, the active catheter‐based invasive surgery was simulated. The experiment confirmed that the large deflection theory calculation method can be used to guide the design of the active catheter. Copyright © 2008 John Wiley & Sons, Ltd. |
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Bibliography: | Key Technologies R&D Programme of Heilongjiang Province, People's Republic of China - No. GC04A510 istex:600AA500A9015EBE1D6F308EFB138772F460624E ark:/67375/WNG-800F6SHT-R ArticleID:RCS172 ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23 ObjectType-Article-1 ObjectType-Feature-2 |
ISSN: | 1478-5951 1478-596X |
DOI: | 10.1002/rcs.172 |