Referenced Items are not available for this document.
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.
Published in:
Mechatronics, IEEE/ASME Transactions on
(Volume:17
,
Issue:
5
)
Date of Publication: Oct. 2012
- Page(s):
- 876 - 883
- ISSN :
- 1083-4435
- Digital Object Identifier :
- 10.1109/TMECH.2011.2138711
- Product Type:
- Journals & Magazines
- Date of Publication :
- 19 May 2011
- Date of Current Version :
- 17 August 2012
- Issue Date :
- Oct. 2012
- Sponsored by :
- ASME Dynamic Systems and Control Division
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