Shape memory polymer variable stiffness magnetic catheters with hybrid stiffness control
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Date
2022-10-23
Publication Type
Conference Paper
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yes
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Abstract
Variable stiffness catheters typically rely on ther- mally induced stiffness transitions with a transition temperature above body temperature. This imposes considerable safety limitations for medical applications. In this work, we present a variable stiffness catheter using a hybrid control strategy capable of actively heating and actively cooling the catheter material. The proposed catheter is made of a single biocom- patible shape memory polymer, which significantly increases its manufacturability and scalability compared to existing designs. Potentially increased safety is obtained by ensuring a lower- risk compliant state at body temperature while maintaining higher stiffness ranges in actively controlled states. Additionally, the combined use of variable stiffness and magnetic actuation increases the dexterity and steerability of the device compared to existing robotic tools.
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Publication status
published
Editor
Book title
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Journal / series
Volume
Pages / Article No.
9589 - 9595
Publisher
IEEE
Event
35th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)
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Date collected
Date created
Subject
Organisational unit
03627 - Nelson, Bradley J. (emeritus) / Nelson, Bradley J. (emeritus)
08705 - Gruppe Pané Vidal
Notes
Funding
185039 - Arbeitstitel "Soft Magnetic Robots: Modeling, Design and Control of Magnetically Guided Continuum Manipulators" (SNF)
743217 - Soft Micro Robotics (EC)
771565C - Highly Integrated Nanoscale Robots for Targeted Delivery to the Central Nervous System (EC)
743217 - Soft Micro Robotics (EC)
771565C - Highly Integrated Nanoscale Robots for Targeted Delivery to the Central Nervous System (EC)