能動カテーテルシステムに関する研究 (多自由度カテーテルの構造,実験結果と動作特性の評価)

概要

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In this paper, we propose two prototype models of micro active catheter (MAC) that has two bending degrees of freedom. One consists of 3 active units with SMA wires in lumina as the servo actuator. The other is active guide wire catheter with ICPF (Ionic Conducting Polymer Film) on its front end as the servo actuator. The bending characteristics of the MAC have been measured by application of electricity in physiological saline solution. We also modeled these MAC for characteristic evaluation (Bending characteristic, Electric characteristic) . Experimental results show that the models of the active catheter are reasonable. By using simulators (whose conditions are similar to those of a blood vessel of human brain), we also carried out simulation experiments “<I>in vitro</I>” and “<I>in vivo</I>”. The experimental results indicate that the proposed micro catheters work properly, and they can effectively improve the operability of traditional procedures for intravascular neurosurgery.
社団法人日本ロボット学会の論文
1996-09-15