Title :
Pressure pulse driven method for precise bending control of hydraulic active catheter
Author :
Ikuta, Koji ; Matsuda, Yoshikatsu ; Yajima, Daisuke ; Ota, Yusuke
Author_Institution :
Univ. of Tokyo, Tokyo, Japan
Abstract :
We aimed to develop an active catheter that could be used safely in human blood vessels. We proposed and developed a micro valve for a water pressure-driven system with multi-degrees of freedom, to produce an active catheter that is compact and not driven electrically. In this paper, we proposed a new control method that uses pressure pulses to bend the active segment precisely. We designed the new valve to achieve this control method and experimentally verified the precise bending motion and simultaneous drive of two active segments.
Keywords :
bending; blood vessels; catheters; hydraulic actuators; mechanical variables control; medical control systems; bending control; human blood vessels; hydraulic active catheter; multidegrees of freedom; pressure pulses; water pressure-driven system; Bellows; Catheters; Fluids; Image segmentation; Motion segmentation; Pressure control; Valves;
Conference_Titel :
Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on
Conference_Location :
Tokyo
Print_ISBN :
978-1-4244-7708-1
DOI :
10.1109/BIOROB.2010.5627740
