II-NEW: Collaborative Research: Robotic Catheterization Using Ionic Polymer-Metal Composite Actuator

这项研究的动机是需要健壮和智能的“导尿”临床程序，这种方法在医学界得到了广泛的应用。在这项研究中，使用一种名为离子聚合物-金属复合材料(IPMC)的电活性聚合物开发主动导尿管的基本框架。研究工作包括机器人控制的IPMC导管的设计和制造方法，以及复杂通道中使用的形状控制。研究成果将在技术会议和讲习班以及原型演示中传播。了解到基于导管的医疗治疗/诊断是重要的医疗技术之一，而且市场上现有的所有导管都是基于人工操作的，这种主动导管技术将为一种新的生物机器人医疗工具铺平道路，它可以显著提高生活质量。

This research is motivated by the need for robust and intelligent clinical procedure of 'catheterization' which is widely used in medical communities. In this research, the fundamental framework to develop active catheters using an electro-active polymer called Ionic Polymer-Metal Composite (IPMC). The research work includes the design and fabrication methodologies of robotically controlled IPMC catheters as well as shape controls needed for use in complex passages. The research results will be disseminated in technical conferences and workshops as well as prototype demonstration. Knowing that the catheter based medical therapy/diagnosis is one of important medical technologies and all existing catheters in the market are based upon human operations, this active catheter technology will pave the way to a new biorobotic medical tool that can significantly contribute to improving quality of life.