| 摘要 |
<p>A catheter (11) is guided by directional control inside a bodily passage by a servo-type system which includes a sensor (13) to transmit position, orientation or velocity information to a microprocessor (CPU) which is typically programmed with an error detection algorithm, and a motion control system (18). The motion control system generates a signal representative of the change in position, orientation or velocity needed to guide the catheter (11) along a prescribed course of travel or in general to continuously adjust its position relative to a target, and this signal is transmitted to a directional steering system, a forward drive system or both, to effect the change. The result is a closed-loop servo system capable of automated, preprogrammed advancement and/or positioning of the distal catheter tip (12) through branched and convoluted passages to a site where therapeutic action is needed or from which diagnostic information is sought.</p> |
