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Development of a Shape Memory Alloy Actuated Catheter for Cardiovascular Procedures

[+] Author Affiliations
Arun S. Veeramani, John H. Crews, Gregory D. Buckner, Stephen B. Owen

North Carolina State University, Raleigh, NC

Richard C. Cook

University of British Columbia, Vancouver, BC, Canada

Gil Bolotin

Rambam Medical Center, Haifa, Israel

Paper No. BioMed2008-38076, pp. 29-30; 2 pages
doi:10.1115/BioMed2008-38076
From:
  • ASME 2008 3rd Frontiers in Biomedical Devices Conference
  • ASME 2008 3rd Frontiers in Biomedical Devices Conference
  • Irvine, California, USA, June 18–20, 2008
  • Conference Sponsors: Nanotechnology Institute
  • ISBN: 0-7918-4833-7 | eISBN: 0-7918-3823-4
  • Copyright © 2008 by ASME

abstract

This research highlights the design, fabrication and experimental validation of a Shape Memory Alloy (SMA) actuated robotic catheter. The prototype consists of four SMA tendons that actuate a central tubular substructure in two orthogonal directions. The experimental shape memory characteristics are used to optimize the design. Joule heating is used to generate tip deflections and the experimental bending characteristics are obtained using a dual camera imaging system. These measurements reveal important nonlinearities and hysteretic characteristics of the system. A dynamic model of the system is developed to describe the SMA-effected bending mechanics, and simulation results are compared to experimental measurements for model validation. The applicability of this technology to cardiovascular procedures, like atrial ablation, is demonstrated through precise tracking of trajectories using PID control.

Copyright © 2008 by ASME

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