Universal navigation device

Abstract

Universal Navigation Device This description relates to a navigation guide for a fluidic circuit comprising a substrate (10) covered by portions (PN) of active blocks, each portion of active blocks (PN) comprising at least one active block (11), each active block (11) comprising at least one organic electroactive layer (103) arranged between a first electrode (101) and a second electrode (102). Figure for the abstract: Fig. 2

Description

Title of the invention: Universal navigation device technical field

[0001] The present description relates generally to devices for navigation in a fluid, for example devices for arterial navigation (endovascular surgery), or for navigation in branching systems such as plumbing pipes or air conditioning circuits. Previous technique

[0002] In the context of endovascular surgery, in order to reach a target blood vessel (such as an artery, for example), surgeons use guides to navigate through the arterial circuit.

[0003] A guide connects the target artery with the outside: it allows, for example, the delivery of a balloon catheter and a stent in the case of a stenosis.

[0004] However, since they are not steerable, they must be introduced using pre-shaped selective angiography catheters. The catheters are chosen according to the shape of the artery: curved, S-shaped, etc. For example, the catheters may be those referenced under the names 'HeadHunter 1', 'Cobra 1', 'Simmons Sidewinder 2', 'Vertebral', 'Berenstein', 'Multipurpose A'. There is no universal navigation guide: each catheter corresponds to a specific shape.

[0005] To overcome this drawback, devices comprising an electroactive polymer-based actuator have been modeled. For example, in the paper by Q. Jacquemin et al. (“Design of a new electroactive polymer based continuum actuator for endoscopy surgical robots,” 2020, IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS)), the active block of the actuator is positioned on a 25 µm thick PEN substrate. The electrodes are made of PEDOT:PSS, and the 6 µm electroactive polymer layer is made of P(VDF-TrFE-CTFE). By applying voltages greater than 50 V / µm, it is possible to bend the device. The device is 5 cm long and 4 mm wide.

[0006] Thus, it would be possible to manufacture a navigation guide comprising a substrate covered by an active block. When a voltage is applied to the active block, it deforms mechanically and causes the substrate to bend.

[0007] However, such devices are still too bulky for arterial navigation. Furthermore, the device can be either straight or curved in only one direction, which is not conducive to navigation in an element where the channels have a complex geometry (particularly with passages where the device must be oriented in one direction and then the other). Summary of the invention

[0008] There is a need for a device that can be oriented in several directions, the device must be miniaturizable in order to be able to navigate in blood vessels.

[0009] This goal is achieved by a Navigation Guide for a fluidic circuit comprising a substrate covered by portions of active blocks, each portion of active block comprising at least one active block, each active block comprising at least one organic electroactive layer arranged between a first electrode and a second electrode.

[0010] Advantageously, the guide comprises between 2 and 5 portions of active blocks.

[0011] According to a first advantageous embodiment, the active blocks are arranged on the same side of the substrate.

[0012] According to a second advantageous embodiment, each portion of active blocks comprises two active blocks arranged on either side of the substrate.

[0013] Advantageously, the active blocks comprise between 1 and 10 organic electroactive layers.

[0014] Advantageously, each active block has a length between 0.5 and 3 cm, preferably between 1.5 and 2.5 cm.

[0015] Advantageously, each organic electroactive layer has a thickness of between 3 and 15 pm, preferably between 3 and 5 pm.

[0016] Advantageously, each organic electroactive layer (103) is made of PVDF, or one of its copolymers, such as P(VDF-TrFE).

[0017] Advantageously, the first electrode and the second electrode are made of an electrically conductive polymer, preferably PEDOT-PSS.

[0018] Advantageously, the portions of active blocks are covered by an encapsulation layer made of a polymer material, for example, PDMS, PMMA, PVDF or one of its derivatives. Brief description of the drawings

[0019] These features and advantages, as well as others, will be described in detail in the following description of particular embodiments, given by way of non-limiting example, in relation to the accompanying figures, among which:

[0020] Fig. 1 represents, schematically and in front view, a navigation guide according to a particular embodiment of the invention - the different parts are not to scale;

[0021] [Fig.2] schematically and in three dimensions represents the distal part of a navigation guide according to a particular embodiment of the invention;

[0022] [Fig.3] schematically and in cross-section represents the distal part of a navigation guide according to another particular embodiment of the invention;

[0023] [Fig.4] schematically and in cross-section represents the distal part of a navigation guide according to another particular embodiment of the invention;

[0024] [Fig.5A], [Fig.5B], [Fig.5C] and [Fig.5D] represent, schematically and in cross-section, different geometries that can be obtained with a distal part of a navigation guide according to different particular embodiments of the invention;

[0025] Figure 6 schematically represents, in cross-section, a distal part of a navigation guide according to another particular embodiment of the invention;

[0026] [Fig.7A] and [Fig.7B] schematically and in three dimensions represent electrical wires in a sheath, according to different particular embodiments of the invention;

[0027] [Fig.8A] and [Fig.8B] schematically represent, in top view, electrical tracks on the body of a navigation guide, according to different particular embodiments of the invention;

[0028] [Fig.9A] and [Fig.9B] schematically represent electrical tracks, respectively, on one face of the navigation guide body and on the other face of the navigation guide body, according to another particular embodiment of the invention;

[0029] [Fig. 10] is a photographic image of a distal part connected by means of electrical wires, according to another particular embodiment of the invention; and

[0030] [Fig.1 1] is a photographic image of a distal part connected by means of electrical tracks, according to another particular embodiment of the invention. Description of the implementation methods

[0031] The same elements have been designated by the same reference numerals in the different figures. In particular, the structural and / or functional elements common to the different embodiments may have the same reference numerals and may have identical structural, dimensional and material properties.

[0032] For the sake of clarity, only the steps and elements useful for understanding the described embodiments have been represented and are detailed.

[0033] Unless otherwise specified, when referring to two elements connected together, this means directly connected without intermediate elements other than conductors, and when referring to two elements connected (in English "coupled") together, this means that these two elements can be connected or linked through one or more other elements.

[0034] In the following description, when referring to absolute positional qualifiers, such as the terms "front", "back", "top", "bottom", "left", "right", etc., or relative positional qualifiers, such as the terms "above", "below", "superior", "inferior", etc., or to Orientation qualifiers, such as the terms "horizontal", "vertical", etc., refer to the orientation of the figures unless otherwise specified.

[0035] Unless otherwise specified, the expressions "approximately", "roughly", and "in the order of" mean within 10%, preferably within 5%.

[0036] Subsequently, we will describe in more detail the devices for arterial navigation; however, the device can be used for any type of navigation in a fluid, for example for navigation in various branched systems (plumbing pipe or air conditioning circuit for example) or even as a remotely controllable switch.

[0037] We will now describe the navigation guide in more detail with reference to the attached figures.

[0038] As shown in [Fig. 1], the navigation guide comprises three main parts: the distal part 1 (also called the end), the transition zone 2 (also called the central part or central core) and the proximal part 3 (also called the body).

[0039] The guide allows navigation in the vessels thanks to the distal end 1 which is modular to measure.

[0040] As shown in Figures 1, 2, 3, 4, 5A, 5B, 5C, 5D and 6, the distal end 1 comprises a substrate 10 covered by portions of active blocks PN with N an integer greater than or equal to 2.

[0041] Preferably, the guide comprises between 2 and 5 active block portions. Between X and Y, it is understood here and subsequently that the boundaries are included.

[0042] Each portion of active blocks PN comprises at least one active block 11. Each active block 11 comprises at least one electroactive layer 103, arranged between a first electrode 101 (also called the lower electrode) and a second electrode 102 (also called the upper electrode). The electrodes 101 and 102 are positioned on either side of the electroactive layer 103.

[0043] When a voltage is applied to an active block 11, it is mechanically deformed. The active blocks 11 can be actuated independently of each other.

[0044] Thus, the navigation guide differs fundamentally from the prior art by the presence of several PN portions of active blocks, which can be electrically activated independently of each other.

[0045] The presence of several PN portions of active blocks allows, by applying a tension to the active blocks 11, to obtain not only several deformation configurations of the distal part 1, but also a finer deformation of the distal part 1. The actuated length is adjustable.

[0046] Thus, by activating one or more portions of active PN blocks, the surgeon can fictitiously vary not only the distal length 1 but also its shape.

[0047] With such a device, it is therefore possible to reach large angles.

[0048] The substrate 10 comprises a first face 10a and a second 10b.

[0049] Each portion PN of active blocks can include, independently of each other, one active block 11 or two active blocks 11.

[0050] The active blocks 11 of the different portions PN of active blocks, can be positioned on the first main face 10a and / or on the second main face 10b of the substrate 10.

[0051] Preferably, each portion of active blocks PN comprises an active block 11 arranged on either side of the substrate 10. This provides a navigation guide that is straight when no tension is applied. Indeed, if the active blocks 11 are on only one side, prestresses may exist in the multilayer forming the active block 11 (due to differences in the coefficient of thermal expansion between the layers and / or to solvent evaporation during the manufacturing of the device). These prestresses can cause the distal portion 1 to bend in a direction that is not desired for the application. Arranging active blocks 11 on either side of the substrate 10 (preferably identical active blocks within the same portion PN) leads to the cancellation of bending stresses and the elimination of this pre-deformation.

[0052] The end of the guide 1 can thus be oriented in two directions: the bending can occur in either direction. Even if a portion PN of the active block can be activated in both directions, it is possible to connect or activate only one of the two sides depending on the use of the guide.

[0053] Preferably, the active blocks 11 comprise between 1 and 10 electroactive layers 103. When the active block comprises several electroactive layers 103, the active block 11 is formed of a stack comprising an alternation of electroactive layers 103 and first electrodes 101 and second electrodes 102. The stack begins with a first electrode 101 and ends with a second electrode 102. Each active block 11 is formed of a motif 100 or a repetition of a basic motif 100 formed of a first electrode 101, an electroactive layer 103 and a second electrode 102.

[0054] Each active block linked a length la, for example, between 0.5 and 3 cm, preferably between 1.5 and 2.5 cm.

[0055] Each active block, for example, has a width of between 0.1 mm and 1 cm, preferably between 0.25 mm and 3 mm. With such widths, arterial navigation is possible.

[0056] Each electroactive layer 103 has a thickness ed, for example, between 3 and 15 pm, preferably between 3 and 5 pm. With such thicknesses, the applied voltages can be relatively low.

[0057] The voltage applied to each active block 11 is preferably between 50 V and 1000 V, and preferably between 50 V and 600 V. For a thickness of 4 µm, the applied field is, for example, between 10 MV / m and 250 MV / m and preferably between 10 MV / m and 150 MV / m.

[0058] The electrodes 101, 102 have, for example, a thickness ec between 0.1 and 3pm, preferably between 1 and 2.5pm.

[0059] The distal part 1 comprises two ends: a first end is in contact with the central part 2 and a second end is free. In other words, it is not connected to any other elements.

[0060] Preferably, the portion of active blocks closest to the end of the substrate 10 is at a distance of 1 m from 0 to 2 cm from the second end of the distal part 1 and, even more preferably, at a distance of 0.5 to 1.5 cm from the end of the distal part. This distance of 1 m is also called the dead length.

[0061] The distance li between two consecutive portions of active blocks PN-1 and PN is, for example, between 0.1 and 5 mm, preferably between 0.5 and 2 mm.

[0062] The different active blocks 11 may have the same dimensions or different dimensions.

[0063] For example, as shown in [Fig. 4], the device comprises three portions of active blocks PI, P2, and P3, each portion of active blocks having an active block 11 arranged on either side of the flexible substrate 10. The first portion of active blocks PI comprises active blocks 11 having a single electroactive layer 103 (i.e., a single motif 100), the second portion P2 of active blocks comprises active blocks 11 having four electroactive layers (i.e., four motifs 100), and the third portion P3 of active blocks comprises active blocks 11 having two layers of active blocks (i.e., two motifs 100). The dimensions (in particular, length and thickness) of the active blocks 11 are different in this case.

[0064] Preferably, each electroactive layer 103 is an organic piezoelectric layer.

[0065] Electroactive materials are materials that deform under the application of an electric field. In particular, piezoelectric materials (such as PVDF-TrFE) are electroactive materials. There are other classes of electroactive materials, for example, electrostrictive materials (such as PVDF-TrFE-CTFE).

[0066] Each electroactive layer 103 preferably comprises a polymer matrix of PVDF, a PVDF copolymer, or a PVDF terpolymer. This may be a copolymer of vinylidene fluoride and at least one other monomer copolymerizable with VDF. Advantageously, the copolymer comprises at least 50% by mol, preferably at least 70% by weight, and even more preferably at least 80% by mol of VDF.

[0067] By way of illustration, the copolymerizable monomer(s) are, for example, chosen from chlorotrifluoroethylene (CTFE), chlorofluoroethylene (CFE), hexafluoropropylene (HFP), trifluoroethylene (VF3), methyl methacrylate (MMA), tetrafluoroethylene (TFE), and perfluoro(alkyl vinyl) ethers such as perfluoro(methyl vinyl) ether (PMVE).

[0068] For example, the copolymer is a copolymer of poly(vinylidene fluoride-trifluoroethylene) PVDF / TrFe, also noted P(VDF-TrFe) or PVDF-CTFE.

[0069] It can also be a terpolymer. For example, a PVDF / TRFE / CTFE or PVDF / TRFE / CFE terpolymer might be chosen. Such materials are called electrostrictive materials.

[0070] According to another embodiment, the polymer is not a ferroelectric polymer: it may be PVDF-HFP.

[0071] Each electroactive organic layer 103 can be a composite material. For example, the layer can comprise, in addition to the polymer matrix, ferroelectric particles and, optionally, PEDOT:PSS particles in order to increase the relative permittivity of the material and thus improve its electrical behavior.

[0072] For example, ferroelectric particles are made of BaTiO3 (BTO), PZT (lead zirconate titanate), AIN, ZnO, or even SBN (Sr-Ba-Nb oxide) or SBT (Sr-Ba-Ti oxide). Such particles are used, for example, with a crosslinkable epoxy matrix. The layer thus exhibits a certain stiffness, which allows the electrical impulse to be efficiently converted into mechanical displacement.

[0073] Preferably, the electrodes 101, 102 are made of an electrically conductive polymer, preferably PEDOT-PSS (poly(3,4-ethylenedioxythiophene).

[0074] The materials forming the various active blocks 11 may be identical or different. Preferably, they are identical. Even more preferably, each active block 11 comprises PEDOT-PSS electrodes and an electroactive layer of P(VDF-TrFe).

[0075] When using the navigation guide, depending on the desired shape, it is possible to apply no tension, or to apply one or more different tensions to the active blocks 11. With such a device, it is possible to have an end curved in one direction or the other, a straight end or an S-shaped end (figures 5A to 5D).

[0076] The substrate 10 is a flexible substrate, that is to say that it can deform reversibly.

[0077] The substrate 10 can be made of polyimide (PI) or poly(ethylene naphthalate) (PEN). It can also be made of polyarylate (PAR).

[0078] The thickness (denoted es) of the substrate 10 is, for example, between 25 pm and 125 pm, preferably between 25 pm and 75 pm.

[0079] Each of parts 1, 2 and 3 of the navigation guide may include a substrate for supporting various elements (electrical tracks, electrical wires, active blocks). Alternatively, part 3 (body) may be formed of braided or concentric wires, preferably sheathed.

[0080] When the proximal portion 3 and the transition zone 2 each comprise a substrate, the substrate of the proximal portion 3 and the substrate of the transition zone 2 may be identical or different. These substrates are preferably polymers such as polyimide (PI), poly(ethylene naphthalate) (PEN), or polyarylate (PAR). These substrates may also be metallized (by adding a layer of metal) such as zinc or titanium. The thickness of these substrates is, for example, between 25 µm and 250 µm.

[0081] The substrate 10 of the distal part 1 is thinner than those of the central part 2 and proximal part 3 in order to be more easily deformed. According to another embodiment, the substrate 10 of the distal part 1 may have the same thickness as those of the central part 2 and proximal part 3.

[0082] Electrical connection means 5,7 are arranged to carry the electrical signal to the active blocks 11 positioned at the distal part 1.

[0083] The connection of electrodes 101, 102 to each other can be shared in order to divide the number of electrical tracks 5 / electrical wires 7 ([Fig. 6]). This reduces the space required due to the connections, and thus decreases the width of the substrate. The device may include an encapsulation layer. This encapsulation layer is not shown in [Fig. 6].

[0084] Several solutions can be considered to route the electrical signal from the body 3 to the core 2 and then to the distal part 1 of the navigation guide.

[0085] According to a first embodiment, for example shown in Figures 7A and 7B, the connection is made by means of electrical wires 7 (i.e., electrically conductive wires). The wires 7 are in an electrically insulating sheath 8. The wires 7 can be braided ([Fig. 7A]) or positioned concentrically ([Fig. 7B]).

[0086] According to another embodiment, for example shown in Figures 8A, 8B, 9A and 9B, the connection is made by means of electrical tracks 5 (i.e., electrically conductive tracks). The tracks 5 can be printed on the substrate 4. The tracks can be arranged on one side of the substrate (Figures 8A and 8B) or on both sides of the substrate (Figures 9A and 9B). When the tracks are on one side of the substrate 4 and the device includes active blocks on both sides of the substrate 10, vias 6 are used to ensure that the tracks are on the same side.

[0087] The tracks 5 can be made of a metal (gold or silver, for example), or of an electrically conductive polymer material. For example, the electrically conductive polymer material is PEDOT:PSS. It can also be a polymer in which electrically conductive particles are dispersed, for example, carbon, carbon, or gold particles. Advantageously, the particles have a larger dimension of less than 300 nm to avoid increasing roughness.

[0088] Several configurations are possible, in order to connect the electrical tracks 5 and / or the electrical wires 6.

[0089] For example, it is possible to cover part of the lower electrode 101 (the one in contact with the substrate) with one of the electrical tracks 5.

[0090] The electrical tracks 5 and / or the electrical wires 7 can be connected to the lower electrode 101 of an active block 11 by means of an electrically conductive adhesive (of the charged epoxy type for example) or by means of a weld.

[0091] Optionally, an electrically conductive plate (for example made of metal, in particular copper) can be positioned on the substrate, on the one hand glued or welded to the lower electrode 101 and, on the other hand, glued or welded to the electrical wire 7 or to the electrical track 5.

[0092] According to another embodiment, mechanical systems such as clips or rivets can be used to connect the electrode 101 of the active block 11 to the wire 7 or to the track 5.

[0093] The various connections can be covered by a hood. In particular, it is possible to use an electrically conductive hood. For example, the hood may contain nanoparticles. The hood makes it possible to seal any holes and / or prevent breakdown phenomena.

[0094] It is also possible to increase the stiffness of the central core 2 by locally adding an additional layer to the substrate. For example, this could be a polymer layer. The polymer may be the same as or different from the substrate polymer. It could also be a metallized polymer layer. Polymer layers can be deposited by bonding. Alternatively, the additional layer could be a dielectric layer, for example, one printed by screen printing. It could also be a metallic foil. The foil could have a thickness of between 10 and 1000 µm, preferably between 10 and 1000 µm. The foil could be made of zinc or aluminum.

[0095] Preferably, the distal end 1 is covered by an encapsulation layer. The encapsulation layer surrounds the different portions of active blocks. The encapsulation layer may be made of a polymer material, for example, an epoxy, polydimethylsiloxane (PDMS), poly(methyl methacrylate) (PMMA), polyvinylidene fluoride (PVDF) or one of its derivatives.

[0096] Even more preferably, the distal end 1, the central core 2 and at least part of the body 3 are covered by the encapsulation layer.

[0097] Encapsulation can be achieved by thermal evaporation, by soaking, or by spraying a solution. Advantageously, the encapsulation step is carried out after the electrical connections have been made.

[0098] Radio-enabled elements can be added to the device, for example, to the flexible substrate or to the encapsulation layer, between the portions of active PN blocks, in order to provide visual tracking of navigation within the target system. The elements are, for example, in the form of crosses, squares, or dots.

[0099] The distal part 1 has a length L of, preferably, between 1 and 7 cm, and preferably between 1 and 4 cm.

[0100] The length L corresponds to the sum of the lengths of the different active blocks 11, the different inter-active block distances li and the extreme length 1m.

[0101] The navigation guide has a length that can go, for example, up to 180 cm or even 300 cm.

[0102] The distal part 1 can be made in the following way:

[0103] a) depositing several electrically conductive areas on a substrate 10, the electrically conductive areas forming first electrodes 101,

[0104] b) form electroactive layers 103 on the electrically conductive areas,

[0105] c) form second electrodes 102 on the electroactive layers 103.

[0106] If necessary, steps b) and c) can be repeated to form a repetition of patterns 100 (first electrode 101, electroactive layer 103, second electrode 102).

[0107] In step b), the electroactive layer 103 can be deposited by spin coating. Other types of localized deposition can be used, such as screen printing, spraying, dispensing, or even inkjet deposition. Preferably, the electroactive layer is deposited by screen printing. In a single pass, the deposited thickness is between 1 and 20 µm. It is possible to superimpose several layers by screen printing until the desired final thickness is achieved.

[0108] For the active blocks 11, advantageously, between 1 and 10 layers will be deposited, preferably a minimum of five layers and preferably ten layers of composite intercalated between two electrodes 101, 102, according to the following sequence: N x (electrode 101 / composite 103 / electrode 102). The number of layers deposited depends on the dielectric thickness.

[0109] The process also includes a step of crystallizing the layer into electroactive material 103, to improve its performance. This irradiation is, for example, carried out with UV flash light, with a flash duration, or pulse duration, of between approximately 500 ps and 2 ms, a fluence (energy delivered per unit area) between approximately 15 J / cm² and 25 J / cm², and with light of wavelength between approximately 200 nm and 380 nm. The number of UV light flashes, or pulses, during this irradiation varies depending on the thickness over which the electroactive material is to be crystallized. For example, for a P(VDF-TrFe) thickness of approximately 2 pm, the irradiation can be carried out with a fluence of approximately 17 J / cm², a pulse duration of approximately 2 ms, and 5 pulses.

[0110] The electroactive material, possibly having undergone prior crystallization, is then subjected to annealing, for example, at approximately 130°C for approximately 60 min, to complete the total crystallization of the material. Annealing can be carried out at ambient pressure or at low pressure.

[0111] The crystallization of the dielectric material can therefore be carried out in two stages: firstly, irradiation by UV light pulse to properly crystallize the second face of the layer in dielectric material in order to increase its thermal conductivity, then a thermal annealing completing the crystallization for the rest of the material not crystallized by the previous irradiation.

[0112] When the dielectric material is a P(VDF-TrFe)-based copolymer, a material polarization step is performed before use. This step can be carried out, for example, by applying a direct current voltage across its terminals via the electrodes. This polarization is performed only once for the entire lifetime of the material. This direct current polarization can be done at room temperature or at high temperature (up to approximately 100°C). When the polarization is carried out at room temperature, it is possible to apply a direct current voltage of up to approximately 150 V / m or even 200 V / m of layer thickness for a duration, for example, of between a few seconds and a few minutes. For example, a voltage of 120 V / m could be applied for 20 seconds.When polarization is performed hot, for example at a temperature of approximately 90°C, a DC voltage, for example, of between approximately 50 V and 80 V per micron, can be applied to the dielectric layer for a duration of, for example, between approximately 1 and 5 minutes. The temperature is then lowered to ambient temperature, and the electric field applied to the material, via the applied DC voltage, is then switched off. Such polarizations allow PVDF to achieve remanent polarization values ​​of 8 pC / cm².

[0113] The dipoles within the layer remain oriented in this way, even when the material is no longer subjected to this electric field. The material can thus be polarized by applying an initial polarization voltage across the electrode terminals. Preferably, a material thickness of between 3 and 4 pm per layer is chosen to promote the polarization of the material by this capacitance, and the voltage level electrical current applied between the electrodes to achieve the initial polarization of the material (when the material needs to be initially polarized).

[0114] Annealing is advantageously carried out at the end of the process, or between the different steps. Annealing is, for example, at a temperature between 100°C and 150°C, preferably around 100°C to remove residual traces of solvent and / or finalize the crystallization of the material.

[0115] Annealing can be carried out under vacuum. For example, a vacuum on the order of 1 mbar. The annealing time, for 1 mbar, can be at least 1 minute, preferably 3 minutes.

[0116] At the end of the process, contact is advantageously resumed so as to connect the active blocks 11 of the distal part 1 to the central core 2 and to the proximal part 3 of the navigation guide.

[0117] Various embodiments and variations have been described. A person skilled in the art will understand that certain features of these various embodiments and variations could be combined, and other variations will become apparent to a person skilled in the art.

[0118] Finally, the practical implementation of the embodiments and variants described is within the reach of a person skilled in the art, based on the functional indications given above.

[0119] Illustrative and non-limiting examples of different embodiments

[0120] In these examples, the substrate is made of polyimide. It is locally covered by portions of active blocks. The active blocks comprise ten piezoelectric layers of PVDF-TrFE; the electrodes are made of PEDOT:PSS.

[0121] In a first example, the device is connected by wires ([Fig. 10]). The wires are sheathed. They are braided.

[0122] In a second example, the device is connected by tracks ([Fig. 11]). The tracks are made of silver.

[0123] The devices are operational and the distal part can take several forms.

Claims

Demands

1. Navigation guide for a fluidic circuit comprising a substrate (10) covered by portions (PN) of active blocks, each portion of active blocks (PN) comprising two active blocks (11), each active block (11) being disposed on either side of the substrate (10), each active block (11) comprising at least one organic electroactive layer (103) disposed between a first electrode (101) and a second electrode (102), the active blocks (11) being actuable independently of each other.

2. Navigation guide according to claim 1, characterized in that the guide comprises between 2 and 5 portions of active blocks (PN).

3. Navigation guide according to any one of the preceding claims, characterized in that the active blocks (11) comprise between 1 and 10 organic electroactive layers (103).

4. Navigation guide according to any one of the preceding claims, characterized in that each active block (11) has a length between 0.5 and 3 cm, preferably between 1.5 and 2.5 P1T1

5. Cili. Navigation guide according to any one of the preceding claims, characterized in that each organic electroactive layer (103) has a thickness of between 3 and 15 pm, preferably between 3 and 5 pm.

6. Navigation guide according to any one of the preceding claims, characterized in that each organic electroactive layer (103) is made of PVDF, or one of its copolymers, such as P(VDF-TrFE).

7. Navigation guide according to any one of the preceding claims, characterized in that the first electrode (101) and the second electrode (102) are made of an electrically conductive polymer, preferably PEDOT-PSS.

8. Navigation guide according to any one of the preceding claims, characterized in that the portions of active blocks (PN) are covered by an encapsulation layer of a polymer material, for example, PDMS, PMMA, PVDF or one of its derivatives.

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