TY - GEN
T1 - Micro active catheter system with multi degrees of freedom
AU - Fukuda, Toshio
AU - Guo, Shuxiang
AU - Kosuge, Kazuhiro
AU - Arai, Fumihito
AU - Negoro, Makoto
AU - Nakabayashi, K.
PY - 1994/12/1
Y1 - 1994/12/1
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:0028603795
SN - 0818653329
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2290
EP - 2295
BT - Proceedings - IEEE International Conference on Robotics and Automation
A2 - Anon, null
PB - Publ by IEEE
T2 - Proceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4)
Y2 - 8 May 1994 through 13 May 1994
ER -