Abstract
Abstract Introduction A soft, biocompatible, and deformation-controlled robotic catheter, guided by computer vision and propelled by the pressurized injection of a saline solution, has been developed. The catheter incorporates a camera at its end to navigate through the human circulatory system to the point where the problem is located and it can release the appropriate surgical instruments for the situation, for example, microscalpel, laser or even a microrobot. This work contributes to the reduction of the risks associated with conventional catheterization, such as unwanted punctures, and eliminates the need to use radiation on the patient for guidance. Methods Finite element simulation models are created in COMSOL to evaluate the performance of hydraulically actuated deformable catheter designs. The catheter is manufactured using flexible materials through additive manufacturing and curing of a biocompatible silicone, PDMS, on molds. Experimental measurements include the pressure reached by the saline solution, the curvature achieved by the catheter, the distance traveled within the conduit system, and the acquisition and processing of images of the traversed conduits. Results Simulation results identify the optimal design among the considered alternatives. A prototype of the catheter is fabricated, and its movement is precisely controlled to navigate safely within a conduit. Conclusion The feasibility of a soft and autonomous catheter with the desired characteristics and behavior to contribute to the reduction of risks associated with catheterization practices is demonstrated.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
