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

被引：43
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
收藏
页码：876 / 883
页数：8
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