Navigable system for catheter based endovascular neurosurgery
A navigable system for catheter based endovascular neurosurgery including: a micro-motor ( 3 ) including a piezoelectric actuator ( 5 ) mounted to a free end of a guidewire or micro-catheter ( 2 ), the piezoelectric actuator ( 5 ) including a piezoelectric element ( 7 ), and an elongate transducer ( 9 ) mounted on the piezoelectric element ( 7 ) and extending therefrom, the transducer ( 9 ) being formed from an asymmetric hollow member, and an end member ( 15 ) located at a free end of the transducer ( 9 ); wherein electrical excitation of the piezoelectric element ( 7 ) induces one or both orthogonal flexural and axial vibration modes within the transducer ( 9 ), the coupling of the induced vibration modes thereby resulting in rotation of the end member ( 15 ) with three degrees of freedom (DOF).
1. A navigable system for catheter based endovascular neurosurgery including:
a micro-motor including a piezoelectric actuator mounted to a free end of a guidewire or micro-catheter, the piezoelectric actuator including a piezoelectric element, and an elongate transducer mounted on the piezoelectric element and extending therefrom, the transducer being formed from an asymmetric hollow member, and an end member located at a free end of the transducer;
wherein electrical excitation of the piezoelectric element induces one or both orthogonal flexural and axial vibration modes within the transducer, the coupling of the induced vibration modes thereby resulting in rotation of the end member with three degrees of freedom (DOF).
2. A navigable system according to claim 1 wherein the end member includes a ball rotor driven for rotation and translation in three DOF by the piezoelectric actuator.
3. A navigable system according to claim 2 , wherein an elongate arm extends from and is moveable together with the ball rotor.
4. A navigable system according to claim 1 , wherein the transducer is a hollow cylindrical member having one or more grooves, pits, indentations, raised portions, cuts or apertures provided asymmetrically on an outer surface of the transducer.
5. A navigable system according to claim 1 , further including one or more flagellas secured to and extending from the end member.
6. A navigable system according to claim 1 , wherein the micro-motor is controlled using pulse width modulation (PWM).
7. A method of conducting catheter based endovascular neurosurgery using a navigable system according to claim 1 .