| 摘要 |
An active slender tube as implemented as a catheter, guide wire, or any other medical or non-medical micro-mechanical or -system or system's active micro-component is disclosed that has a simple structure which facilitates the active slender tube to be reduced in diameter and with the capability of being multi-functionalized. The slender tube is provided in its distal, active end portion in the form of "J" with a bending, a torsionally rotating, an extending and retracting and/or a stiffness control mechanism. These mechanisms are adapted to bend, torsionally rotate, extend/retract and adjust stiffness of, the active end portion, respectively, with precision. Each mechanism comprises an outer skeleton including a liner coil spring, and an SMA (shape memory alloy) made coil actuator disposed inside of the liner coil coaxially therewith and fastened thereto. In the extending and retracting mechanism, the SMA made actuator is fastened to the liner coil spring upon deformation to have a length varied from a length of the SMA made actuator in its natural state. In the torsionally rotating mechanism, the SMA made actuator is fastened to the liner coil spring upon deformation to have a coil diameter torsionally varied from a coil diameter of the SMA made actuator in its natural shape memory step. The stiffness control mechanism has an SMA made actuator in its natural shape memory state.
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