Pressure Pulse Drive: A Control Method for the Precise Bending of Hydraulic Active Catheters

被引：41

作者：

Ikuta, Koji ^{[1
]}

Matsuda, Yoshikatsu ^{[1
]}

Yajima, Daisuke ^{[1
]}

Ota, Yusuke ^{[1
]}

机构：

[1] Nagoya Univ, Nagoya, Aichi 4648603, Japan

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2012年 / 17卷 / 05期

关键词：

Active catheter; hybrid microstereolithography; hydraulically driven system; minimally invasive surgery; SHAPE-MEMORY; ACTUATOR;

D O I：

10.1109/TMECH.2011.2138711

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Our group has been developing a compact, active catheter that can be safely used in human blood vessels. The catheter is driven not by electronic mechanisms, but by a water pressure system with micro valves for multidegrees of freedom. The active catheter is composed of a soft, flexible, MRI-compatible material. In this paper, we propose what we call "pressure pulse drive," a new control method to precisely bend the active segment. We design a new set of optimized valves for this method and experimentally verify the precise bending motion and simultaneous drive of the two active catheter segments.

引用

页码：876 / 883

页数：8

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