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Multi-link active catheter snake-like motion

Published online by Cambridge University Press:  09 March 2009

Geunbae Lim ,
Kazuyuki Minami ,
Keisuke Yamamoto ,
Masahisa Sugihara ,
Masaru Uchiyama  and
Masayoshi Esashi
Geunbae Lim
Affiliation:
Faculty of Engineering, Tohoku University, Sendai, 980–77 (Japan).
Kazuyuki Minami
Affiliation:
Faculty of Engineering, Tohoku University, Sendai, 980–77 (Japan).
Keisuke Yamamoto
Affiliation:
Mitsubishi Cable Industries, LTD., Itami, 664 (Japan).
Masahisa Sugihara
Affiliation:
Mitsubishi Cable Industries, LTD., Itami, 664 (Japan).
Masaru Uchiyama
Affiliation:
Faculty of Engineering, Tohoku University, Sendai, 980–77 (Japan).
Masayoshi Esashi
Affiliation:
Faculty of Engineering, Tohoku University, Sendai, 980–77 (Japan).
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Summary

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 micromachining. 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.

Keywords

Active catheterShape memory alloySilicon micromachiningDistributed actuatorsInterventional therapy

Information

Type
Article
Information
Robotica , Volume 14 , Issue 5 , September 1996 , pp. 499 - 506
Copyright
Copyright © Cambridge University Press 1996

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