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Towards A Discretely Actuated Steerable Cannula for Diagnostic and Therapeutic Procedures
Elif Ayvali1, Chia-Pin Liang, Mingyen Ho
1Robotics, Automation, and Medical Systems (RAMS) Laboratory, Maryland Robotics Center, Institute for Systems Research, Department of Mechanical Engineering, University of Maryland, College Park, MD, USA.
The International Journal of Robotics Research
|May 29, 2012
Summary
We developed a steerable cannula using shape memory alloy (SMA) actuators for precise device delivery. This innovation enables targeted diagnostics and therapeutics with advanced control and in-situ imaging capabilities.
Area of Science:
- Biomedical Engineering
- Robotics
- Materials Science
Background:
- Minimally invasive procedures require precise navigation tools.
- Existing steerable catheters have limitations in dexterity and control.
- Shape Memory Alloys (SMAs) offer unique actuation properties for medical devices.
Purpose of the Study:
- To design and evaluate a multi-degree-of-freedom steerable cannula actuated by SMAs.
- To enable precise delivery of diagnostic and therapeutic devices.
- To demonstrate in-situ micro-scale imaging capabilities.
Main Methods:
- Developed a steerable cannula with discrete SMA actuators trained in an arc shape.
- Implemented a pulse width modulation (PWM)-based control scheme for simultaneous multi-joint motion.
- Validated performance in gelatin to simulate in-vivo conditions and tested with an optical coherence tomography (OCT) probe.
Main Results:
- Successfully designed and fabricated a discretely actuated steerable cannula.
- Demonstrated precise trajectory planning and execution in a simulated environment.
- Confirmed the ability to deliver an OCT probe for in-situ micro-scale imaging.
Conclusions:
- The SMA-actuated steerable cannula offers a promising solution for targeted device delivery in minimally invasive applications.
- The PWM control scheme enables effective multi-joint motion and precise navigation.
- The system successfully demonstrated its capability for diagnostic tool delivery and imaging.
