Micro active catheter system with multi degrees of freedom

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

研究成果: Conference contribution

109 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
編集者 Anon
出版社Publ by IEEE
ページ2290-2295
ページ数6
pt 3
ISBN(印刷版)0818653329
出版ステータスPublished - 1994 12 1
外部発表はい
イベントProceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4) - San Diego, CA, USA
継続期間: 1994 5 81994 5 13

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
番号pt 3
ISSN(印刷版)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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