Towards Fluidic Actuation for Catheter-Based Interventions
A. Devreker1, E.B. Vander Poorten1, A.Gijbels1, P.T. Tran1, H. De Praetere2, P. Herijgers2,
J. Vander Sloten1, D. Reynaerts1
1Katholieke Universiteit Leuven, Leuven, Belgium
2University Hospital Leuven, Leuven, Belgium
The minimization of surgical procedure invasiveness poses considerable challenges. During minimally invasive surgeries (MIS) surgeons encounter two main problems: a lack of visualization and reduced control over the instruments. In order to assist the surgeons in their task, several robotic instruments have been developed. In fact robotic catheters could increase the success rate and reduce the number and severity of complications in catheter-based interventions such as trans-catheter aortic valve implantations (TAVI). This abstract introduces a novel inherently compliant active catheter using fluidic actuation. The large compliance of the proposed catheter is beneficial compared to catheters that are steered by more traditional cable-based actuation. The catheter
configuration and the design process are introduced in this paper. Finally, a steering control is proposed.
ACTUATOR 2014 Manuscript A6.5
Publication date: 08/04/2015
Manuscript A6.5 published in Conference Proceedings ACTUATOR 2014
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