Abstract
Variable stiffness catheters are typically composed of an encapsulated core. The core is usually composed of a low melting point alloy (LMPA) or a thermoplastic polymer (TP). In both cases, there is a need to encapsulate the core with an elastic material. This imposes a limit to the volume of variable stiffness (VS) material and limits miniaturization. This paper proposes a new approach that relies on the use of thermosetting materials. The variable stiffness catheter (VSC) proposed in this work eliminates the necessity for an encapsulation layer and is made of a unique biocompatible thermoset polymer with an embedded heating system. This significantly reduces the final diameter, improves manufacturability, and increases safety in the event of complications. The device can be scaled to sub‐millimeter dimensions, while maintaining a high stiffness change. In addition, integration into a magnetic actuation system allows for precise actuation of one or multiple tools.
Highlights
Soft continuum robots, such as catheters and endoscopes, have demonstrated their advantages in many medical applications (Figure 1a) and have become a key component in minimally invasive medicine (MIM)
The variable stiffness catheter (VSC) proposed in this work eliminates the necessity for an encapsulation layer and is made of a unique biocompatible thermoset polymer with an embedded heating system
The tool is composed of a cylindrical body made of NdFeB (5 μm sized on average) or graphite particles embedded in a polyurethane polymeric matrix (NOA86H), an electric heating contact for each VS section, a temperature sensing coil for each section, and a permanent magnet
Summary
Soft continuum robots, such as catheters and endoscopes, have demonstrated their advantages in many medical applications (Figure 1a) and have become a key component in minimally invasive medicine (MIM). These devices allow for safer therapeutic and diagnostic procedures by reducing the risk of infections and physical stress on the body, increasing the benefits and positive outcomes, and reducing recovery time [1,2,3,4,5,6]. Endoscopes and cardiac catheters are usually guided with the aid of pull wires These allow deflection of the tip segment and variation of the tool stiffness. To reach all targeted areas, surgeons are still required to use additional introducer sheaths
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