Abstract
In order to make a catheter to be used in welfare and medical field, a novel whit-kinematics catheter made with shape memory alloy has been developed. This catheter responses reliably and has high accuracy in position control, Transient analysis of temperature and stress has been performed using a finite element method. At the same time, the temperature change is calculated to predict the action of the catheter and the parameters used in PID control. The numerical analysis and experimental result are compared. The performance of the catheter is accurately controlled according to the feedback of the temperature and electronic resistance.
