Development of Minimally Invasive Steerable Active Catheter with
Position Feedback
ABSTRACT
The aim of this project is to develop an active catheter system that can be employed for minimally invasive medical
interventions. With this objective, there are three principal targets. The first target pertains to the development of suitable
actuator components for realizing high motion capability and position feedback. The second target is related to the
development of necessary algorithms to obtain high precision feedback control of the actuators. The third target is focused
on validating the first prototype of the active catheter system composed of the developed actuator components. With its
genuine approaches, the proposed study will be spearheading the development of active catheters. In addition, its innovative
features and potential to improve life quality, makes the project highly relevant to the call topics. The outcomes of this project
would enable the placement of catheters into hard-to-access locations and thereby lead to wider application of this medical
procedure.
2014 Grants Mechanical Engineering
The originality of the project stems from the utilization of active composites for steering ability and from the utilization of
advanced non-linear control algorithms for position feedback control of the catheter system. The proposed steerable catheter
system would be a pioneering study in the area of medical devices. The approach in this project is based on three themes.
First is the envision of the actuation mechanism improving the degree-of-freedom and bending ability of the catheter. Second
is the establishment of necessary non-linear control algorithms for directing the mechanism to display the desired behavior.
Third is the design and manufacturing of the first prototype, followed by pre-clinical experiments on close-to-actual models.
Composite joints consisting of active materials will accomplish the actuation. Precise position check will be ensured by the
application of advanced robust control techniques. Pre-clinical experiments will benefit from phantom models.
Yrd. Doç. Dr.
Güney Güven Yapıcı
DEPARTMENT
Mechanical Engineering
CONTACT
[email protected]
FUNDING SCHEME
TÜBİTAK 1003
START DATE
2014
DURATION
24 months
OZU BUDGET
583,186.00 TL
72