Multi-DOF Steerable Catheter with Shape-Memory Alloy Segmentation
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Solution Overview
Problem
Current SMA-based catheters lack the ability for semi-autonomous navigation through complex vascular shapes, necessitating improved steerable catheter systems for precise and efficient vascular access in medical applications.
Innovation Solution
A multi-degree-of-freedom steerable catheter soft robotic system incorporating self-sensing shape-shifting spring coil actuators and shape-memory polymer actuators, with electroless silver plating and carbon nanotube composite processes for enhanced performance, and a control circuit for precise control and navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If SMA-based catheters are used for vascular access, then vascular access can be achieved, but the catheters cannot navigate through complex vascular shapes
Solution Approach 1:
The catheter is divided into multiple tubular segments (first tubular segment, second tubular segment, etc.) that can independently deflect and bend. Each segment contains shape memory alloy wires that can be selectively activated to control the catheter's shape and navigation through complex vascular structures.
Solution Approach 2:
The catheter combines shape memory alloy wires with flexible tubular segments to create a composite structure. The shape memory alloy provides the actuation capability while the tubular segments provide flexibility and conformability to vascular shapes, enabling semi-autonomous navigation.
2Ease of operation
If the catheter is made flexible for navigation, then it can conform to vascular shapes, but control precision is reduced
Solution Approach 1:
The catheter is segmented into multiple controllable sections, each with its own shape memory alloy wires. This allows independent control of each segment's deflection, enabling precise positioning while maintaining overall flexibility for navigating complex vascular geometries.
Solution Approach 2:
The catheter employs dynamic control through shape memory alloy wires that can be selectively activated and deactivated. This allows the catheter to transition between flexible states for navigation and controlled states for precise positioning and stabilization at the target location.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables semi-autonomous navigation through complex vascular structures, improving the precision and reliability of vascular access while minimizing tissue damage and patient risk.
Implementation Method 1
depositing a seed layer on a surface of each of the plurality of self-sensing shape-shifting spring coil actuators by an electroless silver plating process, and depositing a silver layer on a surface of the seed layer by the electroless silver plating process
Implementation Method 2
the steerable catheter includes a shape-shifting memory polymer (SMP) actuator
Implementation Method 3
The SMP actuator may be made electrically and thermally conductive by a carbon nanotube (CNT) composite process such that the SMP actuator is a self-sensing CNT-based SMP actuator
Implementation Method 4
a control circuit connected to the steerable catheter through electrical connections and selectively applying power to control the steerable catheter
Data Source
AI summary
Provided is a multi-degree-of-freedom steerable catheter soft robotic system, including a steerable catheter; a control circuit connected to the steerable catheter through electrical connections and selectively applying power to control the steerable catheter; and a power supply unit connected to the control circuit. The system also includes a driving circuit for driving the steerable catheter and a shielding disposed around the steerable catheter and shielding for heat and electromagnetic (EM) radiations. The present disclosure includes self-sensing shape-shifting spring coil actuators and a shape-shifting memory polymer (SMP) actuator for steerable catheter applications. In addition, the present disclosure also provides an electroless silver plating process, a silver chemical plating process, a carbon nanotube (CNT) composite process and a pneumatic process.