Control of a high dexterity micro-robot based catheter for aortic aneurysm treatment

Endovascular aortic aneurysm treatment is a minimally invasive surgery (MIS) which requires high dexterity for stentgraft delivering. In this paper, we propose and develop a new active catheter with a multi micro-robots stack arranged inside its external sheath. That serial-parallel type of robot is constituted by three bellows disposed 120/spl deg/ apart, providing three additional degrees of freedom. This paper deals with a brief design overview of the new micro-robot based catheter focusing on its inverse modeling. A Cartesian orientation control algorithm is then presented and an integration of multi purpose criterions is demonstrated.