| 摘要 |
A method of catheter manipulation involves providing a catheter comprising a flexible shaft having a distal end shaped for accessing a target vessel. The method further involves selectably moving the shaft between a plurality of discrete positions of a first degree-of-freedom defined relative to the flexible shaft, restraining a motion of the shaft in the first degree-of-freedom at each position of the plurality of discrete positions, and moving the flexible shaft through a second degree-of-freedom defined relative to the flexible shaft at each position of the plurality of discrete positions. Moving the flexible shaft through the second degree-of-freedom results in a controllable sweeping motion at the distal end of the flexible shaft.
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