Micro active catheter system with multi degrees of freedom

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

109 Citations (Scopus)

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, and 6 Fr (1Fr=1/3mm) in diameter and consist 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.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherPubl by IEEE
Pages2290-2295
Number of pages6
Editionpt 3
ISBN (Print)0818653329
Publication statusPublished - 1994 Dec 1
Externally publishedYes
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4) - San Diego, CA, USA
Duration: 1994 May 81994 May 13

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Numberpt 3
ISSN (Print)1050-4729

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4)
CitySan Diego, CA, USA
Period94/5/894/5/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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