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.
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ASME 2008 3rd Frontiers in Biomedical Devices Conference
June 18–20, 2008
Irvine, California, USA
Conference Sponsors:
- Nanotechnology Institute
ISBN:
0-7918-4833-7
PROCEEDINGS PAPER
Development of a Shape Memory Alloy Actuated Catheter for Cardiovascular Procedures
Arun S. Veeramani,
Arun S. Veeramani
North Carolina State University, Raleigh, NC
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John H. Crews,
John H. Crews
North Carolina State University, Raleigh, NC
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Gregory D. Buckner,
Gregory D. Buckner
North Carolina State University, Raleigh, NC
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Stephen B. Owen,
Stephen B. Owen
North Carolina State University, Raleigh, NC
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Richard C. Cook,
Richard C. Cook
University of British Columbia, Vancouver, BC, Canada
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Gil Bolotin
Gil Bolotin
Rambam Medical Center, Haifa, Israel
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Arun S. Veeramani
North Carolina State University, Raleigh, NC
John H. Crews
North Carolina State University, Raleigh, NC
Gregory D. Buckner
North Carolina State University, Raleigh, NC
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
Published Online:
June 5, 2009
Citation
Veeramani, AS, Crews, JH, Buckner, GD, Owen, SB, Cook, RC, & Bolotin, G. "Development of a Shape Memory Alloy Actuated Catheter for Cardiovascular Procedures." Proceedings of the ASME 2008 3rd Frontiers in Biomedical Devices Conference. ASME 2008 3rd Frontiers in Biomedical Devices Conference. Irvine, California, USA. June 18–20, 2008. pp. 29-30. ASME. https://doi.org/10.1115/BioMed2008-38076
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