Controlling Steerable Catheters with Directional Stiffness through a Servo Motor Driven Handle

Abstract

Tip positioning of steerable catheters is important for a successful surgery. The catheter should bend in a flat plane and a quantitative method for pulling the pull wires must be established for accurate tip positioning. This paper presents a design of catheter tube and the proximal handle that enhances tip positioning of the catheter. The tube design facilitates tube to bend precisely along a flat plane. The handle design which includes a servo motor allows pulling the pull wire according to the quantitative standard.