A biopsy needle has a central axis and includes one or more sensing regions, each sensing region formed by a plurality of sensing optical fibers located over a particular extent of said central axis and inside the outer shell of the needle. The sensing optical fibers are coupled to a wavelength interrogator. A steerable catheter has a central axis and outer shell, the outer shell coupled to a plurality of optical fibers in sensing regions and actuation regions, the sensing regions formed over particular extents of the central axis by bonding gratings to the inner surface of the outer shell, and the actuation regions formed by coupling optical energy into shape memory alloys bonded to the outer shell.

An over-actuated system [304], such as a catheter, having shape memory alloy (SMA) hysteretic wire actuators is controlled using a controller [300, 302] that generates a control signal [310] based on a temperature model that takes into account physical limitations of the SMA hysteretic wire actuators, and based on a hysteresis model (e.g., the Duhem model) that describes hysteresis behavior of the SMA hysteretic wire actuators. The controller preferably includes a feedback controller [302] and a reference governor [300] that generates a smart reference signal [308] from a reference signal [306] representing a desired value of an output of the system. The smart reference signal preferably minimizes an error between the reference signal and an achievable output, and the control signal preferably is generated based on the smart reference signal.

A catheter adapted for deflection in a narrow tubular region and/or sharp turn, has an elongated body, a deflection section having a support member adapted for heat activation to assume a trained configuration, and a lead wire configured to deliver a current to the support member for heat activation. The support member is constructed of a shaped memory alloy, for example, nitinol, and the lead wire is adapted to directly heat the support member. Moreover, the catheter may include a thermally insulating layer covering at least a portion of the support member. The trained configuration of the support member extends in a single dimension, in two dimensions or in three dimensions.

Embodiments described herein relate to magnetically steerable irrigated ablation catheters and methods of operating the same. A steerable catheter can include a distal tip including a first set of magnets. The steerable catheter further includes a shaft. The shaft includes a flexible section with a distal end coupled to the distal tip. The shaft further includes a second set of magnets spaced along a length of the flexible section and spaced from the first set of magnets such that the first and second sets of magnets collectively enable the flexible section to curve without kinking in response to a magnetic field being applied to the first and second set of magnets. In some embodiments, each magnet from the second set of magnets can be coupled to the flexible section via metallic elements disposed at the ends of each magnet.

A rigidity variable apparatus includes: a rigidity variable member having a cylindrical shape, a bending rigidity of the rigidity variable member increasing by being heated; a heater having a cylindrical shape and arranged along the rigidity variable member on an inside of the rigidity variable member in a radial direction, the heater being configured to heat the rigidity variable member; a filler arranged so as to fill a gap between the heater and the rigidity variable member in the radial direction, the filler being configured to transfer heat from the heater to the rigidity variable member; and a tube arranged along the heater on an inside of the heater in the radial direction.

The proposed device comprises a plurality of electroactive material actuator units arranged as a set. Control data for driving individual units is transferred over three shared power lines. The electroactive material actuator of each unit is driven depending on control data received from the power lines via a demodulator, a controller, and a driver.

A system comprises an instrument having a bendable portion with first and control elements extending in the bendable portion and a control system operably coupled to an actuator and a sensor. The control system operates to, while the bendable portion is in a neutral position, command the actuator to move the first control element a first amount until slack is removed from the first control element and command the actuator to move the second control element a second amount until slack is removed from the second control element. The control system also receives a first control element calibration position after moving the first control element the first amount and receives a second control element calibration position after moving the second control element the second amount. The control system also commands the actuator to bend the bendable portion from the neutral position and determine a resulting shape of the bendable portion.

A steerable medical catheter includes a tubular body having a longitudinal axis and a distal portion for insertion into a subject, a first pull wire, a second pull wire, and a piezoelectric transducer. The piezoelectric transducer includes a first electrode and a second electrode. At the distal portion of the catheter the first pull wire and the second pull wire are each mechanically coupled to the tubular body at respective first and second offset positions with respect to the longitudinal axis for imparting a curvature on the distal portion of the catheter. At the distal portion of the catheter the first pull wire is electrically connected to the first electrode of the piezoelectric transducer and the second pull wire is electrically connected to the second electrode of the piezoelectric transducer.

The present invention discloses a steerable guidewire and a method for manufacturing the same, and a steerable catheter and a method for manufacturing the same. According to an aspect of the present invention, a steerable guidewire, which is inserted into a catheter and guides the catheter to a desired blood vessel, may include: a steerable tip part that can be bent in at least two stages due to a stimulus from the outside and that is steered in a predetermined direction; and a non-steerable tip part that is not steerable. The steerable tip part may include: a first steerable tip part having a first length and bent in a first angle with respect to the non-steerable tip part; and a second steerable tip part having one end connected to the first steerable tip part, having a second length, and bent and steered into a second angle with respect to the non-steerable tip part. The first steerable tip part may be positioned farther from the non-steerable tip part than the second steerable tip part. The first length of the first steerable tip part may be smaller than a sum of lengths of steerable tip parts other than the first steerable tip part, and the first angle may be steered so as to be larger than the second angle.

An ablation catheter adapted for use with a guide wire has a 3-D shaped portion that carries ring electrodes for ablating a vessel or tubular region, including the renal artery. The 3-D shaped portion, for example, a helical portion, enables the ring electrodes to contact an inner surface of the vessel at a plurality of locations at different depths along the vessel to form a conduction block without forming a closed conduction loop which would otherwise increase the risk of stenosis of the vessel. In one embodiment, the catheter has a lumen with entry and exit ports to allow the guide wire to pass through the lumen but bypass the 3-D shaped portion. In another embodiment, the catheter has outer bands providing side tunnels through which the guide wire can pass through.