Robot catheter system actuated by IPMC actuator

2017 Fiscal Year Final Research Report

• Project/Area Number: 15K16342
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Medical systems
• Research Institution: National Institute of Advanced Industrial Science and Technology
• Principal Investigator: Horiuchi Tetsuya 国立研究開発法人産業技術総合研究所, 材料・化学領域, 研究員 (60738061)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: ロボットカテーテル / ＩＰＭＣアクチュエータ / 断面二次モーメント

Outline of Final Research Achievements

Robot catheter system is desired which can operate difficult parts for normal catheter surgery, such as brain and peripheral vessels. Many researchers suggested this system, and IPMC actuator robot catheter is one of it. In 1990, Asaka et al. suggested IPMC actuator robot catheter system, however, displacement of actuator is not enough. The cause of it is high second-moment-of-area, so I suggested track-shape robot catheter. This catheter has 15 times larger curvature displacement than previous IPMC catheter. And I developed control system for this to use in operation room.

Free Research Field

医療機械