Elliptical-like cross-section ionic polymer-metal composite actuator for catheter surgery
Elliptical-like cross-section ionic polymer-metal composite actuator for catheter surgery
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用于导管手术的椭圆形横截面离子聚合物金属复合致动器
DOI：
10.1016/j.sna.2017.10.002
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发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Asaka Kinji
中科院分区：
文献类型：
--
作者：
Horiuchi Tetsuya;Sugino Takushi;Asaka Kinji
导管手术是用于脑、血管和心脏手术的手术方法之一，其中医生使用导管将医疗工具插入通过血管。然而，由于它是由人手执行的，因此对微小的血管（例如，大脑深处的血管）进行操作是困难的。因此，期望能够移动导管的尖端的机器人导管系统。在这里，我们提出了一种新的方法来控制导管系统和一种新的离子聚合物-金属复合材料（IPMC）导管设计。截面二阶矩的最佳值为0.18 × 10 - 3 mm ~ 4，仅为正圆管截面二阶矩的0.63%。然而，使用这种设计，制造的导管具有0.46 × 10− 2 mm 4的面积秒矩，这是真正的圆形管的面积秒矩的16%。在实验中，对于2 V的施加电压，导管的尖端分别移动1.67mm和25 mm长的点从根部移动0.90mm。建议值为2 mm（±1 mm），比实验结果大2.2倍。但通过模拟计算，面积二阶矩可减小25倍。
Catheter surgery is one of the surgical methods for brain, vessel, and heart surgery in which doctors insert medical tools through the vessels using catheter tubes. However, as it is performed by human hand, operating upon miniscule vessels, for example, deep within the brain, is difficult. Hence, robot catheter systems that can move the tip of the catheter are desired. Herein, we present a novel method for controlling the catheter system and a new ionic polymer-metal composite (IPMC) catheter design. The optimum value of the second moment of area is 0.18 × 10−3mm4, which is only 0.63% of that of a true-circle tube. However, using this design, a catheter with a 0.46 × 10−2mm4second moment of area, which is 16% of that of a true circle tube, is fabricated. In the experiments, the tip of the catheter moves by 1.67 mm and the 25 mm length point from the root by 0.90 mm for applied voltages of 2 V, respectively. The proposed value is 2 mm (±1 mm), which is greater by a factor of 2.2 than the obtained experimental result. However, by simulated calculation, the second moment of area can be reduced by a factor of 25.