心導管手術是目前治療心血管疾病常見的輕微侵入性醫療手術，而主動式心導管的發展可解決手術上需抽換不同曲率的導引線，使心導管通過分岐的血管進入冠狀動脈之不便。本研究旨在是以離子性聚合物－金屬複材（Ionomeric Polymer-Metal Composite, IPMC）發展主動導引線（dim. 1 ~ 2 mm）。

　　本研究先開發離子性聚合物－金屬複材製程, 建立量測平台並分析複材特性, 建立數學模型, 進行開路與閉路控制並比較其結果及測試導引線成品。本研究發展的金屬置換無電鍍法可製作出具電驅動特性之複材厚膜（長20 mm，寬5 mm，厚200 um）。經由解析推導與有限元素模擬驗證得知，複材致動時之彈性係數與質子交換膜厚度和整體厚度之比值三次方有關，另外，從量測結果得知複材為非線性且時變之系統，在曲率響應上與電壓輸入成正相關，於水下量測之頻寬約3 ~ 4 Hz，為至少3階之系統。以PID控制器可使複材之步階響穩態誤差低於5%，最大超越量低於10 %，上升時間約0.4秒。製作完成之導引線在6V電壓的驅動下可順利穿越內徑約3 mm之Ｙ型通道。

　　本研究開發的複材在製程時間和複雜性方面相較於相關文獻略優，應用上已能利用PID控制器進行曲率的定位，日後若能藉由微製造技術發展微型曲率感測器並縮小導引線尺寸以及降低導線電阻將可實現完整主動式心導管系統。

　Cardiac catheterization is a common minimum invasive surgical procedure for treating the cardiovascular diseases. The development of active catheter could alleviate the need to frequently change guide wires during the surgery. The main goal of this study is to develop an active guide wire (dim. 1 ~ 2 mm) by using ionomeric polymer-metal composite (IPMC).

　In this work, first, a novel fabrication method for IPMC film was developed and a testing system was set up to test the mechanical properties and performance of the IPMC actuator. Second, empirical model of the IPMC actuator was identified and fitted with an ARMAX model. Performances of open-loop and closed-loop controls of the IPMC actuator were compared for the overshoot percentage and the settling time. The prototype was tested on a conduit (dim. 3 mm) which has a Y-junction and a T-junction.

　The new metal replacement electroless plating method developed in this thesis can yield IPMC film (20 x 5 x 0.2 mm) with good electro active properties. From both analytical and FEM analyses, we found that the Young’s modulus of the composite film depends on the cubic power of the ratio of thickness of Nafion to that of the metal film. The IPMC actuator was a time-varying third order system. The bending angle of the active guide wire is proportional to the applied voltage. Bandwidth of the active guide wire system is about 3 ~ 4 Hz. By using the PID controller, the steady-state error for step response is less than 5% and the overshoot percentage is less than 5% and the settling time is about 0.4 seconds. The prototype active guide wire can go through the conduit system driven by applying a potential of 6 volts.

　The new fabrication process developed in this work has the advantages of shorter process time and simpler procedures when compared with existing methods. Bending angle of the guide wire can be accurately controlled by using the PID controller. Further miniaturization of the guide wire and combined with strain gage based curvature sensor by using the micro system technology may result in a complete active catheter system.

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