• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.610-614
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• 2016

This paper proposes an inextensible wire-shaped deformation model to simulate catheter behavior. The wire-shaped model consists of serially-connected mass points and massless rigid links. Torsional springs and dampers are employed to accommodate bending. Deformation is computed by updating the rotation angles from the global coordinates while maintaining the fixed length condition. Equations of motion is derived from double pendulum motion. Spring constant is computed using strain energy and potential energy stored in a torsional spring to reflect material property. Simulation is conducted to show deformation of wire model while maintaining inextensibility condition and including material properties. The proposed method guarantees inextensible constraint in the catheter simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.72-75
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• 2000

This paper presents a simulation study on the description of the motion and the control of an active catheter actuator with multi-link structure actuated by Shape Memory Alloy(SMA). The model of an active catheter adopted in this paper has 3 links, and the individual links are composed of 3 micro coils of SMA for the omni-directional motion. In order to analyze the motions of multi-link structure, 3-dimensional kinematics description is presented. Also, the motion control of the end point of an active catheter using simple Neural Network is shown based on GUI(Graphic User Interface) system.

• Transactions of Materials Processing
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• v.24 no.2
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• pp.89-94
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• 2015

Medical catheter tubes are disposable devices that are inserted into the body cavities such as the pleura, trachea, esophagus, stomach, urinary bladder, ureter, or blood vessels for surgical procedures. Each hole of the inner tube is called a lumen, which is used as a passage for drug injections, waste discharge, polypus removal, blood transport, or injection of a camera or sensor. The catheter tube is manufactured by extrusion. The flow in the inner extrusion die affects the thickness and diameter of the tube. In the current study computer simulation of flow in an extrusion die for catheter tubing was performed. Velocity, pressure, shear rate, and shear stress were investigated and the die design was examined.

• International Journal of Vascular Biomedical Engineering
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• v.2 no.1
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• pp.25-30
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• 2004

Catheters are used to measure translesional pressure gradients in the stenosed coronary arteries. Uses of catheters during coronary angioplasty cause flow obstructions. A narrowed flow cross section with catheter effectively introduced a tighter stenosis than the enlarged residual stenoses after balloon angiplasty. Catheters in blood vessels cause pressure gradient rise and blood flow drop during the measurements. In this study, three dimensional computer simulations are conducted to investigate the flow blockage effects due to the catheter obstructions during the coronary angioplasty. The computer simulation models are generated by the data, which are measured by coronary angiogram, and the blood is treated as non-Newtonian fluid. The velocity, pressure, and wall shear stress variations are observed for the estimate of damages of blood vessel. This study is also extended to investigate the effects of stenotic vessel size, and shape and catheter size and location.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.39-44
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• 2024

This study introduces a novel method for predicting the shape of soft catheter robots embedded with electromagnets. As an advancement in the realm of soft robotics, these catheter robots are crafted from flexible and pliable materials, ensuring enhanced safety and adaptability during interactions with human tissues. Given the pivotal role of catheters in minimally invasive surgeries (MIS), our design stands out by facilitating active control over the orientation and intensity of the inbuilt electromagnets. This ensures precise targeting and manipulation of the catheter segments. The research encompasses a comprehensive breakdown of the magnetic modeling, tracking algorithms, experimental layout, and analytical techniques. Both simulation and experimental results validate the efficacy of our method, underscoring its potential to augment accuracy in MIS and revolutionize healthcare-oriented soft robotics.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1493-1494
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• 2011

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.223-226
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• 2001

A SMA actuator fabricated in this paper generates the large force and it's structure is very simple. The SMA actuator was fabricated by small size with diameter of 4mm and length of 38mm and also it's actuations toward all the directions can be acquired because of three SMA springs which was fabricated with diameter of 1.2mm and 30 turns. We showed into applicability to smart catheter by analyzing accurately the dynamic characteristics such as heading angle, bending angle, force, displacement. For verifying control capacity of the fuzzy controller, we compared Fuzzy controller with PID controller by simulation.

• Journal of Trauma and Injury
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• v.33 no.3
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• pp.140-143
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• 2020

Resuscitative endovascular balloon occlusion of the aorta (REBOA) has been accepted as an adjunct procedure for non-compressible torso hemorrhage in patients with hemorrhagic shock. With appropriate indications, REBOA should be performed for resuscitation regardless of the physician's specialty. Despite its effectiveness in traumatized patients with hemorrhagic shock, performing REBOA has been challenging due to physicians' lack of experience. Even though training in endovascular skills is mandatory, many physicians cannot undergo sufficient training because of the limited number of endovascular simulation programs. Herein, we share simulation video clips, including those of a vascular circuit model for simulation; sheath preparation; long guidewire and balloon catheter preparation; ultrasound-guided arterial access; sheath insertion or upsizing; and balloon positioning, inflation, and migration. The aim of this study was to provide educational video clips to improve physicians' endovascular skills for REBOA.

• Journal of Korean Neurosurgical Society
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• v.63 no.1
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• pp.14-25
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• 2020

Proximal flow control achieved with a balloon guide catheter (BGC) during endovascular treatment of acute ischemic stroke is reviewed in this article. In clinical practice, BGCs offer a multi-faceted approach for clot retrieval by creating proximal flow arrest, reducing embolic burden, and shortening procedure time. Evaluation of frontline thrombectomy procedures with BGCs revealed advantages of combined use over the conventional guide catheter (CGC), notably in the significant reduction of distal emboli to both the affected and previously unaffected territories. Recently, new measures of early and complete reperfusion at first thrombectomy pass have been identified as independent predictors of improved outcomes, which were consistently demonstrated with use of BGC as a safe and effective option to minimize number of passes during intervention. Prior randomized controlled trials reported the positive correlation between BGC-treated patients and a lower risk of mortality as well as shortened procedure time. While BGC use is more common in stent retriever-mediated mechanical thrombectomy, preliminary data has shown the potential benefit of device application during contact aspiration thrombectomy to achieve successful recanalization. However, the question of which major endovascular strategy reigns superior as a frontline remains to be answered. Along with clinical case assessments, BGC performance during in-vitro simulation was analyzed to further understand mechanisms for optimization of thrombectomy technique.

• The Journal of the Acoustical Society of Korea
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• v.14 no.2E
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• pp.73-86
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• 1995

The transducer section of the forward-looking ultrasound imaging catheter (FLUIC) consists of a circular piezoelectric element as a vibrator and a conical acoustic mirror as a perfect reflector. A small diameter piezoelectric transducer element is mounted on the side of a catheter's rotating shaft. The unique design of FLUIC provides the capability to form a two-dimensional image of a cross-section of vessel in front of the catheter, which is lacking in the present generation of intravascular ultrasound (IVUS) transducers, as well as a conventional side view image. The mirror configuration for the transducer section of the FLUIC is designed using an approximated ray tracing techniques. The diffraction transfer function approach [1] developed for the field prediction from primary sources is generalized and extended to predict the secondary diffraction characterstics from an acoustic mirror. The extended model is verified by simulation and experiment through a simple plane reflector and employed to analyzed the field characteristics of a FLUIC.