Modeling and Control of a Hybrid Continuum Active Catheter for Aortic Aneurysm Treatment

摘要

Endovascular aortic aneurysm treatment is a minimally invasive surgery (MIS) which requires high dexterity for stentgraft placement. This procedure requires technological improvements. For this purpose we have developed a new tool called MALICA (Multi Active LInk CAtheter). MALICA is an active catheter with a multi continuum micro-robots stack inside its external sheath. In this paper we present a new direct static model formulation of MALICA along with an orientation control scheme using the redundancy property of this robot.