| abstract |
The invention relates to an autonomously controllable pull wire injection catheter 1 comprising an outer catheter guide 2, 33 having an outer catheter guide casing 39 and an inner operating catheter 3, 31 having an inner operating catheter casing 16, wherein the inner operating catheter 3, 31 comprises a catheter handle 30, a catheter tip 10, at least one needle 5 that is connected to at least one source of medicinal solution via at least one needle channel 4, 26, at least one contact force sensor 9a-f, 25, at least one electrode 7, 24, at least four actuator driven pull wires 12-15, 20-23 for moving the tip 10 of the inner operating catheter 3, 31, wherein the inner diameter of the outer catheter guide casing 39 is larger than the outer diameter of the inner operating catheter casing 16, characterized in that the inner operating catheter 3, 31 is adapted to be controlled by a microcontroller, wherein the at least one electrode 7, 24 and the at least one contact force sensor 9a-f, 25 are adapted for data exchange with the microcontroller, and wherein the at least four actuator driven pull wires 12-15, 20-23 are attached inside the inner operating catheter 3, 31 perpendicular to each other at a pre-defined distance from the tip 10 in the distal region 6. The invention also relates to a robotic system comprising said autonomously controllable pull wire injection catheter 1 and a method for operating the same. |