Multi-link active catheter snake-like motion

Geunbae Lim, Kazuyuki Minami, Keisuke Yamamoto, Masahisa Sugihara, Masaru Uchiyama, Masayoshi Esashi

Research output: Contribution to journalArticlepeer-review

19 Citations (Scopus)

Abstract

A prototype of a catheter which can move like a snake, incorporating distributed shape memory alloy actuators, is described. Since this active catheter has an instrumental navigation ability, minimally invasive diagnosis and interventional therapy will be possible. The outer diameter of the active catheter is 2.8 mm and it has many links fabricated by 3-dimensional silicon micromachming. The silicon batch process was used for the fabrication of the link to minimize assembly work. A new heating method (indirect heating) is suggested which is necessary when the JC chip is mounted on the link.

Original languageEnglish
Pages (from-to)499-506
Number of pages8
JournalRobotica
Volume14
Issue number5
DOIs
Publication statusPublished - 1996

Keywords

  • Active catheter
  • Distributed actuators
  • Interventional therapy
  • Shape memory alloy
  • Silicon micromachining

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mathematics(all)
  • Computer Science Applications

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