Discrete bistable-actuated catheter

Abstract:
Catheters are thin, flexible tubes that can be inserted into vasculatures and cavities. They are common instruments used for minimally invasive surgery. However, those surgical instruments are challenging to precisely steer due to their soft and flexible shafts prone to buckling and friction. Therefore, a discrete bistable-actuated catheter is proposed in order to provide stability to the steerable catheter and avoid buckling. The catheter is composed of five concatenated bistable metallic profiles fixed together using plastic cylinders. By actuating specific profiles, the catheter can take several stable bent position (0, 15, 35, 50 ,60 and 70◦). This design using bistable elements does not only ease the manipulation by hand of catheters but also simplify its control if automated.