AN INTEGRATED COMMUNICATION AND CONTROL-SYSTEM FOR A MULTILINK ACTIVECATHETER

This paper presents an integrated communication and control system for a multi-link active catheter. Links in the active catheter are connec ted with joints made of three SMA (shape memory alloy) actuators. The communication and control function units are distributed over multiple links and three common lead wires are used between the links and the outside controller. The links are addressed and the SMA actuators are driven by the circuit in the links. A MOS transistor with large channe l width is used as switch for the SMA actuator. The circuit is realize d by a standard 5 mu m CMOS technology. It measures 1.8 mm wide by 3.0 mm long. Link addressing and actuator switching functions of the fabr icated chip have been successfully demonstrated. The minimum access ti me for addressing and actuating per single link was 64 mu s.