Development of steerable and flexible medical devices based on Active Sheath mechanism

2017 Fiscal Year Final Research Report

• Project/Area Number: 16K18050
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Shiga University of Medical Science
• Principal Investigator: Yamada Atsushi 滋賀医科大学, バイオメディカル・イノベーションセンター, 特任助教 (40534334)
• Project Period (FY): 2016-04-01 – 2018-03-31
• Keywords: 弾性メカニズム / ステアリング機構 / ループ機構 / 手術ロボット

Outline of Final Research Achievements

Active Sheath mechanisms proposed by authors were applied to steerable needles and fine needles, TIPS needles and steerable microcatheters. Each steerable needle consisted of a flexible cannula and a flexible loop-shaped stylet. The steerable microcatheter consisted of a micro catheter and a loop-shaped guidewire. Especially, the TIPS needle employed a combination of the Active Sheath mechanism and a concentric tube mechanism. About the steerable needles, kinematics and FEM simulations were performed. A real-time MRI navigation systems was developed to track needle insertions.

Free Research Field

医用工学，ロボティクス，フレキシブルメカニズム