Multi-link active catheter snake-like motion

SUMMARY A prototype of a catheter which can move like a snake, incorporating distributed shape memory alloy actuators, is described. Since this active catheter has an instrumental navigation ability, minimally invasive diagnosis and interventional therapy will be possible. The outer diameter of the active catheter is 2.8 mm and it has many links fabricated by 3-dimensional silicon micromachining. The silicon batch process was used for the fabrication of the link to minimize assembly work. A new heating method (indirect heating) is suggested which is necessary when the JC chip is mounted on the link.