Radiofrequency ablation is a state-of-the-art procedure for the treatment of tumors, in which it is crucial to precisely position the radiofrequency ablation instrument near the tumor. INSPIRE project aims to develop and evaluate an innovative instrument that integrates shape sensing technology for ablation procedures, for safe, accurate and effective tumor destruction, reducing radiation exposure. In this work, a new design of a metallic compliant continuum manipulator capable of planar and spatial bending is presented. The underlying design principle behind the two-axis bending of the manipulator is in its novel slotting pattern to make a flexure-based segmented continuum manipulator. This makes the fabrication process monolithic in nature without using assembly. Precise motion of the manipulator is achieved using contactless magnetic actuation by attaching a small permanent magnet at its tip. Therefore this eliminates the undesired backlash and friction, with the potential for further miniaturization. The performance of the manipulator henceforth known as the INSPIRE catheter, under magnetic actuation for planar deflection is evaluated. Furthermore, clinical feasibility of the INSPIRE catheter is demonstrated by steering it along a path of known curvature and also through a gelatin phantom which is visualized in real time using ultrasound imaging. In future work, catheter ablation procedure will be carried out on a porcine model using the INSPIRE catheter and a radiofrequency ablation electrode.
