This paper proposes a master-slave catheterisation system including a steerable catheter with positioning function and an insertion mechanism with force feedback. The steerable catheter is integrated with two magnetic tracking sensors for positioning. The distal shape of catheter is displayed with virtual vascular model to generate 3D guiding image to provide the relative relationship between the catheter and its surrounding vessels. The master-slave insertion mechanism with differential gear structure is designed with force feedback to assist surgeons to manipulate the catheter. It can implement pulling/pushing, rotating and bending/recovering the catheter. Based on this system, surgeons in the control room can utilise the master handle to operate the insertion mechanism for positioning the distal end of catheter with the assistance of 3D guiding image. The stability and accuracy of the system is validated in-vitro.

Sensitivity and transparency are critical properties for flexible and wearable electronic devices, and how to engineer both these properties simultaneously is dramatically essential. Here, for the first time, we report the assembly of ordered array structures of silver nanowires (AgNWs) via a simple water-bath pulling method to align the AgNWs embedded on polydimethylsiloxane (PDMS). Compared with sensors prepared by direct drop-casting or transfer-printing methods, our developed sensor represents a considerable breakthrough in both sensitivity and transparency. The maximum transmittance was 86.3% at a wavelength of 550 nm, and the maximum gauge factor was as high as 84.6 at a strain of 30%. This remarkably sensitive and transparent flexible sensor has strictly stable and reliable responses to motion capture and human body signals; it is also expected to be able to help monitor disabled physical conditions or assist medical therapy while ensuring privacy protection.

Indium-modified Ga₂O₃ hierarchical nanosheet was proved to be an efficient and promising photocatalyst for the removal of perfluorooctanoic acid in aqueous environment.

The navigation strategy proposed in this paper is feasible and has the advantage of increasing the automation of catheterization, enhancing the manoeuvrability of the active catheter and providing the guiding image with desirable interactivity.

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An active catheter prototype has been designed using the theory presented in this paper. Utilizing a vascular model, the active catheter-based invasive surgery was simulated. The experiment confirmed that the large deflection theory calculation method can be used to guide the design of the active catheter.

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