Autonomously controllable pull wire injection catheter, robotic system comprising said catheter and method for operating the same
An injection catheter and an autonomous control technology, which are applied to an autonomously controllable pull-wire injection catheter, a robotic system including the catheter and the field of operation thereof, which can solve the problems of low electrical conductivity, poor ability of the heart to efficiently pump, and the like
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[0131] figure 1 A schematic diagram of an autonomously controllable pullwire injection catheter 1 according to an embodiment of the invention is depicted. The catheter 1 comprises an outer catheter guide 2 and an inner operating catheter 3 , wherein the inner diameter of the outer catheter guide housing 39 is large enough to allow the inner operating catheter 3 to pass through the outer catheter guide 2 . The inner operating catheter 3 further comprises a needle channel 4 with a 0.5 mm (25 gauge) nitinol needle 5 in the distal region 6 . The inner working catheter 3 comprises reference ring electrodes 7 a , 7 b in the distal region 6 , wherein the sensor 7 b is arranged at the tip 10 of the inner working catheter 3 and the reference ring 7 a is near the tip 10 . The electrodes 7a, 7b have connections extending along the inner operating catheter 3 to the proximal region 8 to be activated by the proximal connections, ie connections to a microcontroller (not shown). Furthermor...
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