Multi-degree of freedom hydraulic pressure driven safety active catheter

Ikuta, Koji; Ichikawa, Hidetaka; Suzuki, Katsuya; Yajima, Daisuke

doi:10.1109/robot.2006.1642342

Cited by 66 publications

(36 citation statements)

References 4 publications

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“…However, the cost of such systems could be a prohibitive factor in their utilization. In academia, there have been attempts to build steerable catheters utilizing micro-hydraulic actuators [5][6][7], and shape memory alloys [8,9]. In such catheters, the actuators are collocated with and housed inside the deflectable shaft.…”

Section: Introductionmentioning

confidence: 99%

Robot-assisted catheter manipulation for intracardiac navigation

2009

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Section: Introductionmentioning

confidence: 99%

Robot-assisted catheter manipulation for intracardiac navigation

2009

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“…Pull-wire catheters are reported and developed to use wire to transmit force and displacement [5] [6]. Hydraulic drive technology is introduced to design catheters, which have small dimension and rapid response [7] [8]. Electroactive polymers such as ICPF IPMC are used as low-cost and small-size active bending actuators in steerable catheters [9] [10].…”

Section: I) Steerablementioning

confidence: 99%

Development of a novel robotic catheter system for endovascular minimally invasive surgery

Gao

Liu

et al. 2011

The 2011 IEEE/ICME International Conference on Complex Medical Engineering

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Utilizing catheters with unchangeable distal tip, traditional endovascular minimally invasive surgery is manually performed by surgeons present in an operating room filled with X-ray radiation. It has many disadvantages, such as poor maneuverability, radiation injury and undesirable interactivity, Thus it is difficult to guarantee the safety and efficiency. In order to improve these limitations, this paper develops a novel robotic catheter system with master-slave control, including the steerable catheter integrated with two magnetic tracking sensors, interventional mechanisms with force feedback and 3D guiding image with the collision test. The results demonstrate that the constructed system can reduce the usage of X-rays; surgeons can be located in the control room away from the operating room in the master-slave way; catheterization can be performed successfully and safely to the target point with high maneuverability.Index Terms -Endovascular minimally invasive surgery, robotic catheter system, steerable catheter, interventional mechanism, 3D guiding image

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“…Ikuta designed a 'single-input, multi-output' control mechanism for hydraulic catheters, which is capable of bending more than one segment without the need for additional driving lines (40). The crucial technique rests upon the band pass valve (BPV) designed for each bellows.…”

Section: Hydraulically-driven Cathetermentioning

confidence: 99%