Micro-steerable catheter
Micro-streerable catheters for use in delivering therapeutic treatment in the body, such as ablation and cauterization, and which exhibit precise movement are disclosed. Embodiments include electrical micro-catheters that comprise of electroactive polymers. A preferred embodiment includes a programmable catheter.
1 . An electrical micro-steerable implantable catheter comprising an electroactive polymer (EAP) for steering said catheter.
2 . The catheter of claim 1 , wherein said EAP is in the form of a sheath on said catheter.
3 . The catheter of claim 2 , further comprising a distal tip, wherein said EAP sheath is about 5 to about 10 cm in length from said distal tip.
4 . The catheter of claim 2 , wherein said catheter has a distal tip position that can be moved from a range of less than one millimeter to several centimeters by energizing the EAP.
5 . The catheter of claim 1 , wherein the implantable portion of said catheter is comprised entirely of EAP.
6 . The catheter of claim 2 , wherein said EAP sheath comprises a multilayer EAP.
7 . The catheter of claim 2 , wherein said EAP sheath is electrically divided into sections around the circumference, and wherein the number of sections is two or greater.
8 . The catheter of claim 2 , wherein said EAP sheath comprises a multilayer EAP, and wherein said multilayer EAP is electroded into segments along the lengthwise direction of the catheter.
9 . The catheter of claim 8 , wherein the total number of said segments is one or any number larger than one.
10 . The catheter of claim 8 , wherein each segment is electrically isolated from another segment so that each segment is individually actuated.
11 . The catheter of claim 1 , wherein said EAP is selected from the group consisting of:
P(VDF x -TrFE y -CFE 1-x-y ) P(VDF x -TrFE y -CTFE 1-x-y ) Poly(VDF x -TrFE y -vinylidene chloride 1-x-y ), poly(vinylidene fluoride-tetrafluoroethylene-chlorotrifluoroethylene), poly(vinylidene fluoride-trifluoroethylene-hexafluoropropylene), poly(vinylidene fluoride-tetrafluoroethylene-hexafluoropropylene), poly(vinylidene fluoride-trifluoroethylene-tetrafluoroethylene), poly(vinylidene fluoride-tetrafluoroethylene-tetrafluoroethylene), poly(vinylidene fluoride-tri fluoroethylene-vinyl fluoride), poly(vinylidene fluoride-tetrafluoroethylene-vinyl fluoride), poly(vinylidene fluoride-trifluoroethylene-perfluoro(methyl vinyl ether)), poly(vinylidene fluoride-tetrafluoroethylene-perfluoro (methyl vinyl ether)), poly(vinylidene fluoride-trifluoroethylene-bromotrifluoroethylene, polyvinylidene), poly(vinylidene fluoride-tetrafluoroethylene-chlorofluoroethylene), poly(vinylidene fluoride-trifluoroethylene-vinylidene chloride), and poly(vinylidene fluoride-tetrafluoroethylene-vinylidene chloride);
and wherein x is in the range from 0.5 to 0.75, and y is in the range 0.45 to 0.2 and x+y is less than 1.
12 . The catheter of claim 1 , wherein said EAP is selected from the group consisting of:
high energy irradiated PVDF based polymers, wherein said high energy irradiation includes electron, γ-ray, and/or α-ray, and
wherein the PVDF based polymer can be selected from P(VDF x -TrFE 1-x ), P(VDF x -CTFE 1-x ), P(VDF x -CFE 1-x ), P(VDF x -HFP 1-x ) (HFP: hexafluoropropylene), where x is in the range from 0.5 to 0.95.
13 . The catheter of claim 2 , wherein said EAP sheath comprises uniaxially stretched films.
14 . The catheter of claim 2 , wherein said EAP sheath comprises films that are in non-stretched form.
15 . The catheter of claim 2 , wherein said EAP sheath comprises a shape memory polymer layer.
16 . The catheter of claim 2 wherein said EAP sheath comprises an additional shape memory polymer (SMP) layer, and
wherein said SMP layer has a glass transition temperature between 38 to 45° C.
17 . A programmable micro-steerable catheter system, comprising:
an electrical micro-steerable catheter, and
a controller for steering the catheter,
wherein said catheter comprises an electroactive polymer (EAP).
18 . The catheter of claim 17 , wherein the tip position of said catheter is controlled by said controller.
19 . The catheter of claim 17 , wherein said controller varies applied voltages to said EAP to induce a desired steerable catheter shape for the catheter tip to reach the target position in the body.
20 . The catheter of claim 17 wherein the precision of the final catheter tip and the target is preset in said controller.
21 . The catheter of claim 17 , wherein said controller performs an optimization process to determine the final voltages applied to each section of the EAPs in the catheter.
22 . The catheter of claim of claim 17 , wherein the precision at the tip of said catheter is better than about 0.1 mm.
23 . The catheter of claim 17 , wherein a continuous line target is discretized into a series of target points having a predetermined interval which is determined by the treatment and type of operation and
wherein said controller pre-calculates the voltages for each target point along said line.