WO2004098040A1 - Element d'entrainement pour courbes et micro-dispositif - Google Patents

Element d'entrainement pour courbes et micro-dispositif Download PDF

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Publication number
WO2004098040A1
WO2004098040A1 PCT/JP2004/005990 JP2004005990W WO2004098040A1 WO 2004098040 A1 WO2004098040 A1 WO 2004098040A1 JP 2004005990 W JP2004005990 W JP 2004005990W WO 2004098040 A1 WO2004098040 A1 WO 2004098040A1
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WIPO (PCT)
Prior art keywords
conductive polymer
layer
polymer layer
actuator
conductive
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PCT/JP2004/005990
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English (en)
Japanese (ja)
Inventor
Tetsuji Zama
Susumu Hara
Shingo Sewa
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Eamex Corporation
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Publication of WO2004098040A1 publication Critical patent/WO2004098040A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N11/00—Generators or motors not provided for elsewhere; Alleged perpetua mobilia obtained by electric or magnetic means
    • H02N11/006—Motors

Definitions

  • the present invention relates to a bending drive device and a micro device used for inspection and repair in the industrial field, and a bending drive device and a micro device used for inspection and treatment in the medical field, for example, ophthalmic surgery, laparoscopic surgery
  • medical devices such as tweezers, scissors, forceps, snares, laser scalpels, spatulas, clips, and other curved drive devices and microdevices, particularly tips suitable for endoscopes and catheters Related to medical tubing provided with ACT.
  • Medical tubes having an actuator at the distal end are useful as catheters for blood vessel introduction, endoscopes and the like, and are widely used as medical microdevices.
  • this medical tube is used as a blood vessel introduction catheter, after the distal end portion of the actuary is inserted into the blood vessel, the medical tube is deformed to select the traveling direction, Proceed through the blood vessels.
  • a medical tube using a bending actuator include, for example, an actuator having two or more electrodes formed at positions sandwiching an ion exchange resin membrane.
  • a medical tube and a microdevice for examining a pipe or a medical device provided with a tip at the tip are known. Please refer to Japanese Patent Application Laid-Open Nos. H08-103336 and H11-1198069. This medical tube has good operability in operations such as surgery, since the actuator provided at the distal end has a fast bending response speed and is driven at a low voltage.
  • An object of the present invention is to provide a bending drive device and a micro device that can reach a target position by driving an actuator even in a situation where there are many obstacles. Disclosure of the invention
  • the inventors of the present invention have provided a bending drive device provided with an actuator at the tip, the actuator including a conductive polymer layer and an electrolyte layer in contact with the conductive polymer layer.
  • the present inventors have found that, by using a bending drive device that drives the actuator by applying a voltage to the conductive polymer layer, the actuator can generate a strong force that presses against the outside.
  • the present invention provides a microdevice having an actuator at a tip portion, similar to the bending driving device, wherein the actuator contacts the conductive polymer layer and the conductive polymer layer.
  • a microdevice which includes an electrolyte layer, and which is driven by applying voltage to the conductive polymer layer. The micro device can generate a strong force that the actuator presses against the outside.
  • FIG. 1 is a cross-sectional view of an embodiment of an actuator provided at a distal end portion in a bending drive device and a micro device of the present invention.
  • FIG. 2 is a cross-sectional view of a second embodiment of the actuary provided at the distal end in the bending drive device and the micro device of the present invention.
  • FIG. 3 is a cross-sectional view of the third embodiment of the actuary provided at the distal end in the bending drive device and the micro device of the present invention.
  • FIG. 4 is a cross-sectional view of a fourth embodiment of an actuary provided at the distal end in the bending drive device and the micro device of the present invention.
  • FIG. 5 is a schematic view of an embodiment of a medical tube using the bending drive device of the present invention.
  • the present invention relates to a bending drive device provided with an actuator at a tip end, the actuator comprising a conductive polymer layer and an electrolyte layer in contact with the conductive polymer layer, This is a bend driving device driven by the actuator by applying a voltage to the molecular layer.
  • the actuator provided at the tip of the bending drive device of the present invention includes an electrolyte layer in contact with the conductive polymer layer and the conductive polymer layer. Since the conductive polymer layer is in contact with the electrolyte layer, the dopant contained in the electrolyte layer is de-injected into the conductive polymer layer when a voltage is applied, so that the conductive polymer layer is displaced. Produces. In the above-mentioned actuate, one of the conductive polymer layers is bent by applying a positive and negative voltage to the pair of conductive polymer layers facing each other, and the other is contracted, thereby causing a bending motion.
  • the actuate is provided with a conductive polymer layer and an electrolyte layer, and if the conductive polymer and the electrolyte layer are in contact with each other and a voltage can be applied to the conductive polymer, the structure and z or the configuration are particularly preferable. It is not limited.
  • the configuration of the above-mentioned actuary is placed on the outer periphery of a flexible resin tube.
  • a conductive polymer layer, and an electrolyte layer on the conductive polymer layer, the actuator can bend by applying a voltage to the conductive polymer layer. .
  • at least one pair of conductive polymer layers is required, and it is preferable to provide two or more pairs.
  • the conductive polymer layer When the conductive polymer layer is a pair, it can be bent in one direction. When the conductive polymer layer has two pairs, the conductive polymer layers can be bent in two directions (XY directions), and further complicated bends can be made by controlling the voltage applied to each electrode. .
  • the electrolyte layer in contact with the conductive polymer layer may be in contact with the conductive polymer layer and the electrode layer as long as ions can move between the conductive polymer layer and the electrode layer. Therefore, the conductive polymer layer and the electrode layer can be configured to have a configuration such as via a separator, and it is sufficient that they are substantially in contact with each other.
  • FIG. 1 is a sectional view of an embodiment of an actuator provided at a distal end portion of a bending drive device according to the present invention.
  • the actuator 1 comprises a conductive layer 3 on the outer surface of a flexible resin tube 2 and a conductive polymer layer 14 1, 14 2, 14 3, on the conductive layer.
  • This is a cylindrical actuator that includes 144, and further includes an electrolyte layer 5 on the conductive polymer layer.
  • the center of FIG. 1 has a hollow center and a cylindrical shape, it can be formed into a shape suitable for the structure and use of a curved drive device, and can have a desired shape such as a column shape or a prism shape. It can be shaped.
  • the following method can be used as a method for obtaining an actuary having the structure shown in FIG.
  • four conductive layers 3 are arranged along the longitudinal axis on the outer surface of a flexible tube 2 generally used for a catheter.
  • the conductive material of the conductive layer and the method of installing the conductive material are not particularly limited as long as a conductive polymer can be formed on the conductive layer by an electrolytic polymerization method.
  • As the conductive layer sputtering of gold, platinum, or the like is particularly preferably used because the conductive layer can be easily formed.
  • a conductive polymer layer is formed on the conductive layer by an electrolytic polymerization method.
  • the conductive polymer does not precipitate on the tube without the conductive layer.
  • a conductive polymer may grow on the tube from the conductive layer and fill the gap between the electrodes to cause a short circuit. In this case, it is necessary to prevent short-circuiting by using a masking treatment or a post-treatment of peeling the conductive polymer between the electrodes (conductive layer) on the tube on which the conductive layer is not formed.
  • an electrolyte such as a gel electrolyte to obtain a medical tube for medical tubing including two pairs of conductive polymer layers.
  • the outer layer is formed by a resin layer such as an exterior film typified by urethane resin for medical use. It is preferable to seal.
  • the bending drive device according to the present invention is characterized in that, by providing the actuator at the distal end, the actuator drives to generate a strong force to press against the outside, and even when there are many obstacles, treatment can be performed. It is possible to reach a position up to a site or a repair point.
  • the bending drive device of the present invention does not necessarily need to include a conductive layer in contact with the conductive polymer layer, as in the structure shown in FIG.
  • the actuator provided in the bending drive device of the present invention includes a conductive layer in contact with the conductive polymer layer as in the structure shown in FIG. 1
  • a voltage is applied to the conductive layer.
  • a constant voltage is uniformly applied to the conductive polymer layer, so that the amount of deformation of the conductive polymer layer can be easily adjusted. Therefore, it is possible to easily adjust the bending amount of the actuator.
  • the multilayer structure shown in FIG. 1 can easily form a multilayer structure including a conductive polymer layer by an electrolytic polymerization method.
  • the actuator can be provided at the distal end of the guide member 52 by a known method, as in a bending drive device 51 shown in FIG.
  • the actuator 53 is connected to a power source 55 via lead wires 54, 54 'by a known method, and can be used as a medical tube.
  • a well-known conductive layer for transmitting the voltage transmitted from the lead wire to the actuator 53 is provided inside the guide member 52.
  • Actuyue in which a metal layer is bonded to an ion-exchange resin described in the above-mentioned Japanese Patent Application Laid-Open Nos. 8-103336 and 11-1989-69, You can use Actuyue overnight.
  • the actuator 1 can perform a bending motion. For example, when a voltage is applied to the pair of the conductive polymer layers 141 and 142, the actuator is bent in the X direction in FIG. When a voltage is applied to the pair of conductive polymer layers 144 and 144, the actuator bends in the Y direction in FIG. These bending movements can be combined, and the actuary 1 adjusts the voltage applied to the four conductive polymer layers and adjusts the amount of displacement, as shown in Fig. 1.
  • the actuator can be bent in any direction on the plane formed by the X and Y directions.
  • the flexible resin tube described above can be used as a medical tube.
  • a resin tube can be used.
  • a known nylon catheter tube for example, trade name “BPEA” manufactured by Zeon Medical Co., Ltd.
  • BPEA trade name “BPEA” manufactured by Zeon Medical Co., Ltd.
  • the conductive polymer layer is not particularly limited, but is preferably a layer that can be obtained by an electrolytic polymerization method because its production is simple. Further, in the above description, a method of forming a conductive polymer layer on the conductive layer after forming the four conductive layers when forming the factory of FIG. 1 was described. However, after forming a conductive layer on the entire outer surface of the resin tube by sputtering or the like, forming a conductive polymer layer on the conductive layer by electrolytic polymerization, and then forming an insulating groove by laser or the like. As a result, it is possible to obtain an event with the structure shown in FIG.
  • FIG. 2 is a cross-sectional view of a second embodiment of the actuator provided at the distal end of the bending drive device of the present invention.
  • Fig. 2 shows the structure of Fig. 1. It has a structure in which the conductive polymer layer and the electrolyte layer are exchanged, and it bends by a mechanism essentially similar to the structure in FIG.
  • an electrolyte layer 25 is provided on the outer surface of the tube 22, and then four conductive polymer films 24 separately prepared by electrolytic polymerization are installed. Form a layer.
  • a conductive layer 23 that can be used as an auxiliary electrode of gold, platinum, or the like is provided on the conductive polymer layer.
  • the outermost layer can be sealed with an exterior film.
  • the auxiliary electrode can be omitted.
  • the auxiliary electrode can be applied to each part of the conductive high molecular layer so that the applied voltage can be kept at a certain level or higher, and the auxiliary electrode is provided to sufficiently exhibit the performance of the conductive polymer. Is preferred.
  • the configuration of FIG. 2 can bend due to the displacement of the conductive high molecular layer, and the configuration of the configuration installed at the tip of the bending drive device. Can be used as
  • a known conductive polymer can be used, and polypyrrole, polythiophene, polyaniline, polyphenylene, or the like can be used.
  • a conductive polymer containing a pyrrole and / or pyrrole derivative in its molecular chain facilitates production, is not only stable as a conductive polymer, but also has an electrolytic property. It is preferable because of its excellent stretching performance.
  • the conductive polymer exhibits an excellent expansion and contraction rate per one oxidation-reduction cycle in electrolytic expansion and contraction, and can also show a displacement rate per specific time, so that the trifluorene sulfonic acid ion and / or It is preferable that an anion containing a plurality of fluorine atoms with respect to the central atom is contained as a dopant.
  • the conductive polymer layer contains a conductive polymer having elasticity due to electrochemical oxidation-reduction, and the conductive polymer is a conductive polymer produced by an electrolytic polymerization method, An organic compound containing at least one bond or a functional group of at least one of an ether bond, an ester bond, a carbonate bond, a hydroxyl group, a nitro group, a sulfone group, and a nitrile group, and Z or halogenated carbonization.
  • an electrolytic solution containing hydrogen as a solvent is used, and the electrolytic solution contains trifluoromethanesulfonate ions and / or anions containing a plurality of fluorine atoms with respect to a central atom.
  • the conductive polymer layer is formed on the working electrode during electrolytic polymerization. Therefore, it is preferable that the film is in the form of a film.
  • the working electrode at the time of the electrolytic polymerization is not particularly limited as long as it can be used for the electrolytic polymerization, and an ITO glass electrode, a metal electrode, or the like can be used. However, when preparing the structure of FIG. 1 described above, since the conductive layer is directly provided on the tube, it must be a thin layer that does not impair the flexibility of the tube.
  • the conductive polymer layer in the above-described actuate is formed.
  • the conventional electroconductive polymer could only expand and contract electrolytically up to about 1% per oxidation-reduction cycle in the direction perpendicular to the layer width, it did not Excellent stretch ratio of 8% or more, especially 10% or more per cycle can be obtained.
  • the conductive polymer can generate a force of 1 OMPa or more, which greatly exceeds the force of about 5 MPa, which is the power of the conventional conductive polymer, the actuary is bent. By doing so, a greater force can be generated to the outside, and this is optimal as the bending drive device.
  • the conductive polymer layer of the present invention is a conductive polymer layer containing polypyrrole obtained by a method for producing polypyrrole using an electrolytic polymerization method, wherein the production method is based on an electrolytic polymerization method.
  • the electrolytic solution used contains a piper and a Z or a piper derivative as a monomer component, the electrolytic solution contains an aromatic ester as a solvent, and the electrolytic solution contains perchlorate ions. It is preferable that there is.
  • the polypyrrole film can expand and contract with a maximum expansion ratio of 10% or more per oxidation reduction as a maximum expansion ratio due to electrolytic expansion and contraction, and has a tensile strength of 60 MPa or more. Therefore, an actuate containing the polypyrrole film in the conductive polymer layer is preferable because it can exhibit large bending and durability even when there are many obstacles.
  • the electrolyte is not particularly limited, and may be a liquid or a solid electrolyte.
  • the electrolyte When the electrolyte is in a liquid state, it may be a water solvent or an organic solvent, but it is easy to handle due to its low toxicity and a relatively slow volatilization rate, and a large expansion and contraction is obtained. Water solvent is preferred.
  • the electrolytic solution When the electrolytic solution is a solid electrolyte, it may be a gel polymer electrolyte or a completely solid polymer electrolyte, but a gel polymer electrolyte is preferable because of its high ionic conductivity in the electrolyte. .
  • the gel used for the gel polymer electrolyte it is preferable to use polyacrylamide, polyethylene glycol, agar, or the like, since the gel polymer electrolyte can be easily prepared by complexing with the aqueous solution electrolyte.
  • the electrolyte is an electrolyte containing at least one compound selected from the group consisting of trifluoromethanesulfonic acid ion, anion containing a plurality of fluorine atoms with respect to the central atom, and a sulfonate having 3 or less carbon atoms.
  • the actuate can generate a larger expansion and contraction per oxidation-reduction cycle.
  • the electrolyte may be an ion exchange resin containing dopant ions. If an ion exchange resin having a metal layer formed by an electroless plating method is used for the electrolyte, the metal layer may be When the ion exchange resin surface and the conductive polymer layer are in contact with each other on the surface opposite to the surface on which the metal layer is formed, the metal layer serves as a counter electrode. That is, the counter electrode can be easily formed by using the ion exchange resin having the metal layer.
  • An actuate using an ion-exchange resin having a metal layer formed by an electroless plating method as the electrolyte is preferable from the viewpoint of manufacturability in which a counter electrode is easily formed.
  • the actuator is provided with a counter electrode for driving by applying a voltage to the conductive polymer layer, similarly to the actuator which operates by driving a conventional conductive polymer.
  • the conductive layer can function as a counter electrode.
  • the shape of the counter electrode is not particularly limited as long as the counter electrode is formed of a conductive material that has flexibility and can be used as an electrode. The shape may be a rod, a line, a film, or a plate.
  • the counter electrode may have a multilayer structure of a single layer as a conductive layer as in the structure of FIG.
  • the material of the counter electrode is not particularly limited, and may be a metal containing a noble metal such as gold or platinum as a type, or may be a conductive non-metal such as a conductive resin or ITO glass. .
  • the material of the counter electrode is preferably a noble metal because it is hardly corroded and easy to process, and is preferably made of platinum or gold. More preferably, there is.
  • the dopant ions in the electrolyte layer are de-injected into the conductive polymer layer, the counter electrode is formed on the electrolyte layer so that a short circuit with the conductive polymer does not occur. Preferably, they are not substantially in contact.
  • FIG. 3 is a cross-sectional view of the third embodiment of the actuary provided at the distal end of the medical tube of the present invention.
  • 3 has a conductive layer 33 on the outer surface of a flexible resin tube 32, and a conductive polymer layer 34 on the conductive layer.
  • This is an actuate having a multilayer structure in which an electrolyte layer 35 having a metal layer 36 on a conductive polymer layer is formed.
  • FIG. 4 is a cross-sectional view of the fourth embodiment of the actuary provided at the distal end of the medical tube of the present invention.
  • an outer layer 41 is provided with an electrolyte layer 45 on a metal layer 46 on the outer surface of a flexible resin tube 42, and a multilayer body is formed.
  • the conductive polymer layer 44 is formed on the conductive polymer layer, and the conductive layer 43 is further formed on the conductive polymer layer.
  • the four conductive polymer layers 34 can be made to expand and contract independently because the conductive layer 23 and the metal layer 36 can be used as a pair of electrodes.
  • the structure in FIG. 4 is a structure in which the conductive polymer layer and the ion-exchange resin layer in the structure in FIG. 3 are replaced. Therefore, the operation of actuyue in FIG. 4 is essentially the same as the operation of the actuyue in FIG.
  • the work of the configuration shown in FIGS. 3 and 4 be covered with a flexible resin such as urethane rubber, similarly to the product of the configuration shown in FIG.
  • the factory having the configuration shown in FIGS. 3 and 4 includes a conductive layer in contact with the conductive polymer layer.
  • a voltage can be easily applied to the conductive polymer layer by applying a voltage to the conductive layer. This is because.
  • the actiyue is more flexible
  • a base resin layer composed of a tube is provided and a conductive polymer layer is provided on the base resin layer, a conductive layer is formed on the base resin layer, and the conductive layer is used as a working electrode in electrolytic polymerization. This makes it possible to obtain, by a simple method, the above-mentioned actuate in which the conductive polymer layer is in contact with the conductive layer.
  • the factory has a laminated structure including the conductive polymer layer between the conductive layer and the electrolyte layer.
  • the actuator used in the bending drive device of the present invention may have a structure in which a conductive polymer layer and an electrolyte layer in contact with the conductive polymer layer are provided on a cylindrical or columnar base resin layer. it can.
  • a conductive polymer layer By providing a conductive polymer layer on a cylindrical or columnar base resin layer, even if the conductive polymer layer is not thicker than sufficient for driving, it can be used as the tip required for the catheter. This is because it can be done overnight.
  • the base resin layer may have a cylindrical shape, a columnar shape, a prismatic shape, or the like as long as it has a cylindrical or columnar shape.
  • the base resin layer is formed of a tubular body having a hollow inner side because of the necessity of releasing a drug from a distal end portion. Is preferred.
  • the base resin layer is preferably formed of a columnar body.
  • the laminated structure is formed on the base resin layer.
  • the actuator can be bent in one direction such as left and right.
  • the actuator is bent in a plurality of directions such as up, down, left, and right to guide the traveling direction of the medical tubes in a plurality of directions.
  • it is overnight, it is preferable to provide a plurality of portions having the laminated structure on the base resin layer in a substantially insulated state.
  • an actuator having the portion having the laminated structure on the base resin layer for example, a flexible cylindrical body is used as the base resin layer, and an outer surface of the cylindrical body is used.
  • the laminated structure on the entire surface By forming a laser beam along the length direction of the cylindrical body, and cutting the laminated structure with a laser along the length direction of the cylindrical body.
  • the portion including the laminated structure formed on the base resin layer includes the
  • the conductive polymer layer is not substantially exposed to the outside of the actuator.
  • the dopant ions in the conductive polymer flow out to the outside, which not only reduces the bending amount and generation force of the actuator, but also reduces the energy consumption. This is because there is a concern that the ion may affect the human body.
  • As a method of not substantially exposing the conductive high molecular layer to the outside of the reactor there is a method of coating the surface where the reactor is in contact with the exterior with a flexible resin.
  • the resin is not particularly limited as long as it is a resin having flexibility, and silicone resin, urethane resin, silicon rubber, or the like can be used.
  • the conductive polymer layer is formed of a cylindrical body containing a conductive polymer, and the cylindrical body is made of a conductive polymer and an elastic polymer. It is preferable to use a composite structure with a conductive substrate having the structure.
  • the conductive polymer layer is a composite structure of a conductive polymer and a conductive substrate having elasticity, when a voltage is applied to the conductive polymer layer, the conductive substrate is energized. By doing so, a sufficient voltage can be easily applied to the conductive polymer layer.
  • the composite structure is a cylindrical body, so that a cavity inside the cylindrical body is formed.
  • a structure having an electrolyte and a counter electrode in the portion a structure as an actuator can be easily formed.
  • a separator such as a nonwoven fabric is provided on the inner surface of the cylindrical body, or a separator such as a nonwoven fabric is provided. It is preferable that the heater is provided on the outer periphery of the counter electrode.
  • the cylindrical body as the composite structure can be obtained by a method for producing a conductive polymer using an electrolytic polymerization method using a coiled conductive substrate such as a metal panel as a working electrode.
  • the invention of the present application is a microdevice provided with an activator at the tip, the activator comprising a conductive polymer layer and an electrolyte layer in contact with the conductive polymer layer;
  • the microdevice is characterized in that the actuator is driven by applying a voltage.
  • the micro device has a configuration similar to that of the bending drive device described above, so that the micro device can generate a strong force to press against the outside, and can be easily treated even in a situation where there are many obstacles. It can proceed to the site or repair location.
  • 1 to 4 can be used as the configuration of the medical tube using the microphone opening device and the micro device according to the present invention.
  • the micro device preferably includes a conductive layer in contact with the conductive polymer layer, similarly to the bending driving device. This is because a voltage can be easily applied to the conductive polymer layer by applying a voltage to the conductive layer by bringing the conductive layer into contact with the conductive polymer layer.
  • the microdevice like the bending drive device, includes a conductive polymer layer and an electrolyte layer in contact with the conductive polymer layer on a cylindrical or columnar base resin layer. Structure.
  • the laminated structure in a case where the actuate has a laminated structure including the conductive polymer layer between the conductive layer and the electrolyte layer on the base resin layer, the laminated structure is It is preferable that it is provided alone on the base resin layer.
  • the actuator may bend the microdevice in a plurality of directions such as up, down, left, and right, such as a jaw used for a medical tube such as a catheter or an endoscope, to guide the traveling direction of the medical tube in a plurality of directions.
  • the micro device may be configured such that the actuator is provided with four or more portions including the laminated structure on the base resin layer along a length direction of the actuator. Is preferred. With such a structure, it is possible to easily bend in a plurality of directions such as up, down, left, and right by applying a voltage to the conductive polymer layer in the laminated structure.
  • the actuator provided at the tip of the microphone opening device is similar to the above-described bending drive device, wherein the conductive polymer layer is formed of a cylindrical body containing a conductive polymer, and the cylindrical body is formed of a conductive material. It is preferable to use Actuate, which is a composite structure of a polymer and a conductive substrate having elasticity.
  • Actuate which is a composite structure of a polymer and a conductive substrate having elasticity.
  • the conductive polymer layer is a composite structure of a conductive polymer and a conductive base having elasticity
  • the conductive base is energized.
  • the use of the composite structure is a cylindrical body, and a structure provided with an electrolyte and a counter electrode in a hollow portion inside the cylindrical body forms a structure as an actuator. Can be done easily.
  • the conductive polymer layer includes a conductive polymer having elasticity by electrochemical oxidation-reduction, as in the bending drive device described above.
  • the conductive polymer is a conductive polymer produced by an electropolymerization method, wherein the electropolymerization method comprises at least one of an ether bond, an ester bond, a carbonate bond, a hydroxyl group, a nitro group, a sulfone group, and a nitrile group.
  • An organic compound containing at least one bond or a functional group and an electrolytic solution containing Z or a halogenated hydrocarbon as a solvent are used. It is preferable to include an anion containing a plurality of.
  • the conductive polymer layer has an expansion ratio of 8% or more in a direction perpendicular to the layer width in the factory, similarly to the bending drive device.
  • the conductive polymer layer may be a conductive polymer layer containing polypyrrole obtained by a method for producing polypyrrole using an electrolytic polymerization method.
  • the electrolytic solution used in the electropolymerization method may contain a monomer such as a polyester and Z or a derivative of a polyester as a monomer component, and the electrolyte solution may include an aromatic ester as a solvent.
  • the electrolytic solution is a method for producing polypyrrole containing perchlorate ions.
  • the polypyrrole can expand and contract at a rate of 10% or more per oxidation-reduction as the maximum rate of expansion and contraction due to electrolysis and has a tensile strength of 6 OMPa or more. For this reason, an actuate containing the polypyrrole in the conductive polymer layer is preferable because it can exhibit large bending and durability even when there are many obstacles. Industrial applicability
  • the bending drive device and the micro device of the present invention are used for an inspection device and a repair tool used for inspection and repair in the industrial field, and for an ophthalmic operation or an abdominal endoscopic operation used for inspection and treatment in the medical field. It can be suitably used for medical tubes including endoscopes and catheters, tweezers, scissors, forceps, snares, laser scalpels, spatulas and clips in the microsurgery technology.

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Abstract

L'invention concerne un élément d'entraînement pour courbes et un micro-dispositif pourvus l'un et l'autre d'un actionneur au niveau de leur partie extrémité avant, se caractérisant en ce que ledit actionneur comporte une couche polymère conductrice et une couche électrolytique en contact avec ladite couche polymère et l'actionneur qui se plie lorsqu'une tension est appliquée sur la couche polymère conductrice. Comme l'actionneur se plie et produit une force de pression élevée sur l'extérieur, et comme il peut fonctionner facilement même en présence de nombreux obstacles, l'élément d'entraînement pour courbes et le micro-dispositif selon l'invention peuvent être utilisés de préférence dans un cathéter ou dans un endoscope.
PCT/JP2004/005990 2003-04-25 2004-04-26 Element d'entrainement pour courbes et micro-dispositif WO2004098040A1 (fr)

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
US8517926B2 (en) 2005-05-24 2013-08-27 Olympus Medical Systems Corp. Endoscope
WO2012161954A3 (fr) * 2011-05-26 2013-10-24 Carefusion 2200, Inc. Cathéter de pleurodèse active
CN108601926A (zh) * 2016-02-05 2018-09-28 得克萨斯系统大学董事会 可操纵的管腔内医疗装置

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JPH0932718A (ja) * 1995-07-19 1997-02-04 Terumo Corp アクチュエータ素子
JPH09293913A (ja) * 1996-04-25 1997-11-11 Casio Comput Co Ltd 機能性高分子素子
JPH09302246A (ja) * 1996-05-20 1997-11-25 Casio Comput Co Ltd 機能性高分子素子およびその製造方法
JP2001240742A (ja) * 2000-02-28 2001-09-04 Mitsubishi Chemicals Corp ポリアニリン類およびその製造方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8517926B2 (en) 2005-05-24 2013-08-27 Olympus Medical Systems Corp. Endoscope
WO2012161954A3 (fr) * 2011-05-26 2013-10-24 Carefusion 2200, Inc. Cathéter de pleurodèse active
CN108601926A (zh) * 2016-02-05 2018-09-28 得克萨斯系统大学董事会 可操纵的管腔内医疗装置

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