WO2011093542A1 - Polymer actuator, catheter containing same, and preparation method thereof - Google Patents

Abstract

The present invention relates to a polymer actuator comprising: (i) a column-shaped electroactive polymer laminate; and (ii) a plurality of electrode coating layers present on a part of the surface of the column-shaped laminate, and a catheter containing the polymer actuator. The polymer actuator has low density and improved mechanical properties such as driving displacement, driving force and the like and response velocity, and driving characteristics can be controlled by controlling factors such as the ion exchange function of ionic groups present in an electroactive polymer, the number of the ionic groups, the distribution of the ionic groups, the type of coutercations, the thickness of an ion exchange membrane, the thickness of a surface electrode and the like, thereby enabling a catheter containing the same to be easily used as a guide wire or an active catheter.

Description

 【Specification 】

 [Name of invention]

Polymeric driving body, catheter including the same and manufacturing method thereof

Technical Field

The present invention provides a polymer driving body comprising a plurality of electrode coating layers present on a part of (i) the electrically conductive polymer laminate and (Π) the surface of the lamp assembly, a manufacturing method thereof, and controlling the driving characteristics of the polymer driving body. A catheter comprising a method and a polymer driver.

 Background technology

Recently, surgical surgery has been focused on pain free or minimally invasive surgery to reduce the mental and physical burden of patients through the reduction of recovery period, hospitalization period, and medical cost reduction. One of them is the catheter. In general, the catheter represents a thin tube or tube, which is used as a bypass for the urethra and esophagus, used to discharge the contents or to inject drugs, or to the heart or cerebrovascular vessels through blood vessels such as arteries. It is used for infusion of therapeutic devices, infusion of angiographic agents and removal of blood clots. Of these, active catheters are the latter, aimed at performing certain surgical operations where they need to be examined or treated safely and quickly through complex and narrow pathways such as blood vessels.

When injecting the catheter into the body, there is a risk of entering the unwanted direction at the vascular bifurcation or damaging the vascular wall. In order to overcome this problem, if the shape is stored at a certain degree of silver, the micro memory is driven like a shape memory alloy (SMA), which is an alloy that returns to its original shape even when it is deformed at a lower temperature than the shape memory. Multi-degree of freedom drive mechanism and sensor using a sieve (actuator) Attempts have been made to mount the catheter tip. Through this, the study of active catheter to safely move the catheter to a certain place is one of the important techniques for minimally invasive surgery. This is the main research topic among researchers currently dealing with MEMS and microdrives. Most of these active catheters are predominantly technical techniques for the design of the mechanical operating part, in this case, the size of the operating part is large, there is a problem that can not operate in micro-vascular such as cerebrovascular.

In addition, when shape memory alloy is used as an active catheter's driving body, deformation and recovery should occur between 49-52 ^° C and 37 ^° C, which is the minimum temperature that damages the tissues of skin or blood vessels. The shape memory alloy that can be deformed at this temperature is the only alloy in which a small amount of third metal such as vanadium, crumb, manganese, and cobalt is added to the nickel-titanium alloy (Ni-Ti alloy), but the price of the raw material is high. The price has a high disadvantage. In addition, the deformation temperature of shape memory alloy is very sensitive to the change of composition ratio.

Because of the reaction, there is a disadvantage that a fine control of the composition ratio is required.

Recently, in order to improve such a problem, a technique for diversifying the material of the driving body has been proposed, but the scope of the diversification is somewhat limited. Specifically, the materials presented include shape memory alloys, superelastic alloy tubes and fluids, micro valves and balloons, and guide wires equipped with pressure sensors and ultrasonic probes. Most of them are confined to shape memory alloys and have limitations in clinical applications.

In addition, the polymer driving body has recently attracted attention as a next-generation driving device that can realize artificial muscle, and the polymer driving body has characteristics such as large strain rate, low driving pressure, softness and low density (light weight), so that it can be applied as an active catheter. It has the disadvantage of small generating force, low rigidity, low responsiveness, and low durability. The polymer driving body is deformed by external stimulation such as electricity, chemistry, heat, light and magnetism, but the most practical one is the driving device by electrical stimulation. Ionic Conducting Polymer Film (ICPF) actuators exhibit high-speed bending behavior when voltage is applied to the platinum layer electrodes on both sides of Nafion. Since it is driven by voltage, energy supply is easy and the driving voltage is about 1.5 V, so that electrolysis in water hardly occurs, and there is little bubble accumulation inside the machine, and thus, it is expected to be used as a catheter driving body. However, although the use of the ICPF driver as a guide wire has been suggested in various literatures, a specific attempt to apply it as an active catheter has not yet been presented because the mechanical properties of driving force and strength are not supported.

 【Detailed Description of the Invention】 、

 [Technical Problem] The present invention provides a polymer comprising (i) a light emitting electroactive polymer laminate and (Π) a plurality of electrode coating layers present on a part of the surface of the light emitting laminate.

A catheter comprising a driving body and a polymer driving body is presented.

Specifically, the present invention relates to an isotropic stack of electroactive polymers selected from ionic polymers, conductive polymers, carbon nanotubes, dielectric polymers, electrostrictive polymers, nanoclays, silica compounds, and combinations thereof The present invention relates to a polymer driving body including a plurality of electrode coating layers present on a part of the surface of a laminate, wherein the driving characteristics are improved, as well as the ion exchange capacity of the ion groups present in the electroactive polymer, the number of silver groups, the distribution of the ion groups, and the relative cation. It is possible to adjust the driving characteristics by controlling at least one selected from the type of, the thickness of the ion exchange membrane, and the surface electrode thickness. In addition, the present invention is a polymer that enables improvement and control of driving characteristics by a series of processes including an ion exchange membrane lamination step of a plurality of electroactive polymers, a pretreatment step of heating, a thermocompression step, an electrode coating step, and an insulating layer forming step. Method for manufacturing a drive body, including the polymer drive

Guide and this _. To present a catheter used as an active or active catheter. 【Technical Solution】

The present invention (i) gideung type electroactive polymer laminate, and (Π) gideung the stacked electrodes includes a plurality of the coating layer present on a portion of the water ^surface, the catheter polymer actuator ^ i for which it is characterized.

In addition, the present invention (b) laminating a plurality of electroactive polymer ion exchange membrane, (c) heating the laminated ion exchange membrane at 170-190 ^° C for 10-20 minutes, (d) the heated Thermally compressing the ion exchange membrane at 6,500-7,000 psi and 170-190 ^° C. for 10-20 minutes, (e) the thermally compressed

Cutting the ion exchange membrane to obtain an isotropic red worm, (h) coating an electrode on the surface of the isotropic laminate, and (i) forming an insulating layer by partially removing the electrode coating layer. There is another feature of the manufacturing method of the polymer driving body.

In addition, the present invention (b ') laminating a second exchange membrane so that a duct forming light is present between the plurality of ion-exchange membrane between the plurality of electroactive polymer ion exchange membrane, (c) the stacked ion exchange membrane 170- Heating at 190 X for 10-20 minutes; (d) thermocompressing the heated ion exchange membrane at 6,500-7,000 psi and 10-20 minutes at 170-190 ^° C., (e ') of an isotropic stack. Cutting the thermo-compressed ion exchange membrane such that an inner duct is present in the longitudinal direction and removing the duct- ^like lamps to obtain a lamp stack, (h) coating an electrode on the surface of the lamp trap; And, (i) there is another feature in the method of manufacturing a polymer drive comprising the step of forming an insulating layer by removing a portion of the electrode coating layer.

In addition, the present invention is a catheter comprising a polymer driving body according to system 3, the driving force of 0.2 gi or more, the driving displacement of 40 ^° or more, the strength of 8 X 1 ⁷ Nra ² or more, the density less than 0.25 g / cm ³ and 2.0 The catheter is used as a guidewire for catheter insertion or as an active catheter for device or drug injection. There is another feature of the catheter.

 The present invention also relates to a columnar laminate of electroactive polymers selected from (i) ionic polymers, conductive polymers, carbon nanolevers, dielectric polymers, electrostrictive polymers, nanoclays, silica compounds, and combinations thereof. And (Π) a polymer driving body comprising a plurality of electrode coating layers selected from platinum, gold, silver, copper, nickel, lead, cadmium, and alloys thereof present on a portion of the surface of the lamp body. By controlling one or more factors selected from the silver exchange capacity of the silver group in the active polymer, the number of ion groups, the distribution of the ion groups, the relative amount of silver, the thickness of the ion exchange membrane, and the thickness of the surface electrode, the driving force, the driving displacement and the response rate There is another feature of the method for adjusting the driving characteristics of the selected polymer driver.

 Advantageous Effects

The polymer driving body and the catheter using the same according to the present invention can be smoothly adjusted by electric stimulation with high practicality, and it is possible to improve driving characteristics such as driving displacement, driving force, and strength, and to adjust driving characteristics so that the desired position in the blood vessel can be determined. Fluorescence combined with the catheter and the imaging probe as well as the catheter for surgery and treatment with the improvement of the success rate of vascular treatment, reduction of complications, stability of the procedure and universalization of cerebrovascular diseases such as cerebral aneurysm. Its expectation is expected in the field of imaging.

 [Brief Description of Drawings]

Figure 1 shows a SEM photograph of the cross section (a) and shape (b, c) of the etc. of the shaped laminate prepared in Example 1-1 of the present invention.

Figure 2 shows the SEM image of the surface before (a) and after the coating (b) before the electrode coating on the surface of the light-emitting laminate prepared in Example 1-1 of the present invention.

 [Mode for carrying out the invention]

The present invention zones (i) the electrically conductive polymer laminates, and (Π) the etc.

A polymer comprising a plurality of electrode coating layers present on a portion of the laminate surface Driving body; Driving the polymer drive by controlling one or more factors selected from the silver exchange capacity of the ion groups present in the electroactive polymer, the number of ion groups, the distribution of ion groups, the type of relative positive silver, the thickness of the ion exchange membrane, and the surface electrode thickness. Characteristics adjustment method; A method of manufacturing a polymer drive body by a series of processes including laminating a plurality of silver exchange membranes of electroactive polymers, pretreatment step of heating, thermocompression bonding, electrode coating, and forming an insulating layer; And it relates to a catheter comprising the polymer drive.

Hereinafter, the present invention will be described in detail as follows.

The present invention is characterized by a polymer drive comprising (i) a luminescent electroactive polymer laminate and (Π) a plurality of electrode coating layers present on a portion of the surface of the luminescent laminate. The electroactive polymer forming the shaped laminate may be selected from ionic polymers, conductive polymers, carbon nanotubes, dielectric polymers, electrostrictive polymers, nanoclays, silica compounds, and combinations thereof. In the present invention, the 'combination' includes both the above two kinds and a copolymer or a molten phase, or a liquid blend, a molten phase or a liquid or solid mixture of the two or more substances, and a combination thereof.

Specifically, the ionic polymer is a fluorine-based polymer in which at least one selected from a sulfonic acid group and a carbonyl group and an ionic group are introduced, for example

One or a combination of two or more selected ^from- (CF ₂ CF ₂ )-(CF ₂ CF) ^{-and Cf: 3} may be used, and as one example, a fluorine-based group having a sulfonic acid group introduced into an anion group

-(CFzCFHCF _j CF ^

Among the polymers, Nafion⑧ containing O-CF ^ FiCF ^ OCF ^ F ² can be used. Specifically, the conductive polymer may be selected from polyaniline, polypyrrole, polysulfone, polyacetylene, and combinations thereof, and the dielectric polymer may be selected from polyacrylate, silicone, pulley vinylidene fluoride, and combinations thereof. In addition, the electrostrained polymer may be selected from polyacrylates, silicones, polyurethanes, and combinations thereof, and nanoclays may be used in which one or more ionic groups selected from sulfonated and carbonyl groups are introduced.

 Introduction of the silver group of the nanoclay is generally used in the art and is not particularly limited. For example, the present invention uses a method of controlling the amount of silver group by irradiating gamma rays, but is not limited thereto. The silica compound may use silica monomers modified through sulfonation or carbonylation and their superpolymers.

In the present invention, it is known that the conductive polymer, the carbon nano-lever, the dielectric polymer, the electrostrictive polymer, the nanoclay, the silica compound, etc. used as the electroactive polymer cause the swelling change by various physical and chemical changes. By the change, the driving performance is improved.

Looking at the literature on the volume change induction of such an electroactive polymer in detail. Conductive polymers have a volume change caused by the sequencing / extraction of hydrated ions during their oxidation / reduction process [J.

Phys. Chem, 1990, 94, 8614]; carbon nanotubes are formed in an electric double layer upon charge supply.

Volume change is induced [Science, 1999, 284, 1340]; Dielectric polymers induce a volume change through the rearrangement of induced polarization molecules when a strong electric field is applied, especially when the acrylic polymer is tensioned before driving Much larger size changes are induced [Science, 2000, 287, 836]; electrostrained polymers exhibit changes in molecular structure under strong electric fields with a volumetric deformation of about 4% [Scifence, 1998, 836, 2101]. Known. In addition, in the present invention, an oxide of a plate transition metal such as vanadium, which may be additionally used between the light emitting stack and the electrode coating layer, causes hydration of hydrates in the interlayer structure, causing volume change, and thus driving. Has already been reported [Nature materials, 2003, 2, 316]. These electroactive polymers are not only capable of self-driving but also using a combination of these, as long as they do not interfere with the existing driving.

The driving force is improved.

In the present invention, when two or more kinds of electroactive polymers are used in combination, in particular, when the ionic polymers and the carbon nanotubes are combined, they are mixed in a solution to prepare a membrane in the range of 175-185, and then laminated to drive the polymer. A method of preparing a sieve, or manufacturing a polymer driving body with one kind of electroactive polymer and then coating another kind of electroactive polymer on the surface of the manufactured polymer driving body may be used. In this case, a method of preparing a membrane using a solution phase mixture may be a three-dimensional constant casting method, which is generally used in the art, and the coating method may be a method in which another electroactive polymer is coated on the upper surface of one electroactive polymer. Not particularly limited, for example, a method of impregnating and coprecipitation in a polymer solution and then polymerizing on the surface is also possible.

Such column stacks can have a variety of shapes, in particular

It is possible to form a cross section selected from quadrilateral, hexagonal octagon and circular.

The columnar laminate may be prepared by thermocompression bonding an electroactive polymer having a thickness of 175-185) to a final thickness of 900-1100 / an.

If the final thickness of the electroactive polymer is less than 900 im, it may be difficult to use the catheter's driving body due to the reduction of the driving force.If the final thickness of the electroactive polymer exceeds 1100, the driving speed and displacement are significantly reduced due to the increase of its rigidity. Due to the problem that can not be inserted into the blood vessel can occur.

Electrode coating layer formed by coating on the surface of the light-emitting laminate is in the art Although not particularly limited to those used, specifically, one selected from platinum, gold, copper, nickel, lead, cadmium, and alloys thereof may be used.

 In the present invention, platinum is used as a metal for forming the electrode coating layer, but nickel, lead, copper, and silver are used for forming the electrode or [J. Electroanal. Chem., 1993, 360,

247, gold [Chem. Mater. , 2000, 12, 1750], even when the electrode is formed by the same drive as platinum, it is not limited to platinum.

The electrode coating layer is present on a part of the surface of the light emitting stack, and is continuously or intermittently positioned in the longitudinal direction of the light stack.

There are even numbers so as to correspond to the surfaces of opposite or flat surfaces of the stack, and a gap exists between the plurality of electrode coating layers to insulate them. Above length

By producing electrodes intermittently in the direction and cutting the applied voltage to each electrode, deformation of various shapes such as an S shape can be generated to greatly improve the flexibility of the driving unit. ^'

In general, the degree of freedom of the electrode is determined by the number of planes.

Two degrees of freedom of one (+) pole and one (-) pole; 2 sides (+) 2 poles (-) poles or

 Three degrees of freedom of one (+) pole and two (-) poles; In case of four sides, each of two (+) and (-)

It has four degrees of freedom. However, in the case of the above three degrees of freedom, one

The electrode can not be used because it is rarely used. For example, for the entire surface area of an isotropic reptile with a square cross section,

By coating the electrode layer, the continuous electrode layer in the longitudinal direction of the stack

Can be formed. Alternatively, the electrode layer may be formed intermittently in the longitudinal direction by coating the electrode layer in the intermediate direction in the longitudinal direction of the laminate, or by removing the electrode layer having a predetermined thickness in the longitudinal direction of the electrode layer coated on the entire surface of the laminate. It is also possible to obtain an electrode layer formed intermittently in the direction.

For the continuous or intermittent electrode layer formed in this way on the surface of the rectangular stack having a square cross section, By removing, the degree of freedom according to the number of surface of an electrode layer can also be changed.

 For example, when all four corners are peeled off with respect to the continuous electrode layer in the longitudinal direction, the electrode layer is formed on a total of four surfaces to have four degrees of freedom. On the other hand, it is also possible to form a total of two sides of the electrode layer having two degrees of freedom by cutting the whole face of the regular square thinly.

 The polymer driving body of the present invention may further include (iii) an internal duct existing in the longitudinal direction of the latticed stack, and the cross section of the duct may be selected in shape according to the intended use, and is not particularly limited. Do not. The duct has a cross section with a long axis of 0.2-0.5 mm 3, and it is preferable that the ratio (D: d) of the long axis D of the cross section of the elongated laminate and the long axis d of the duct is 1: 0.2-0.5. If the long axis of the duct is less than 0.2 mm it may be difficult to administer the drug, if it exceeds 0.5 隱, the thickness of the structure around the duct is reduced, there is a problem that can be cracked or broken when driving the polymer drive, and also If the ratio (D: d) of the long axis (D) of the cross section of the mold stack to the long axis (d) of the duct is less than 1: 0.2, it may be difficult to inject the instrument and drugs, and if it exceeds 1: 0.5, Problems can occur that cause breakage of the etc. stack. In this case, when the duct is used for the treatment of an aneurysm, it is desirable to secure a long axis of 0.2 mm or more so that the platinum coil can be inserted and a long axis of 0.2 mm or less when the duct is used for thrombolytic drug injection.

In the present invention, 'long axis' means the longest distance between two arbitrary points on the figure. For example, if the shape is a circle, the long axis is the diameter, the longest diagonal line, and the long axis corresponds to the ellipse.

The polymer driving body of the present invention may further include (iv) a single layer or two or more mixed layers selected from conductive polymers, carbon nanotubes, and transition metal oxides between the lamp stack and the electrode coating layer. The conductive polymer, carbon nano-lube, transition metal oxide and inorganic particles in the art Although generally used is not particularly limited, specifically, the conductive polymer may be a polyaniline, polypyri, polysulfone or polyacetylene selected from the group consisting of one or two or more, and the transition metal oxide is a transition metal such as vanadium Oxides may be used. These additionally included layers are formed using dip coating, layer by layer self-assembly, spin coating: atomic layer deposition sputtering, electropolymerization and chemical polymerization, which are commonly used in the art, and consider the effect on driving performance. Maintain a 10-200 IM thickness range.

In addition, in order to ensure biocompatibility and blood compatibility, (V) may further include at least one layer selected from silicon-based, polyurethane-based, parylene-based and epoxy-based coating layers present on the electrode coating layer. This layer is present not only on the electrode layer but also on the name between the electrode layers serving as the insulating layer. The silicone-based, polyurethane-based, parylene bran [Smart Mater.

 Struct. , 2006, 15, 1540], The coating layer formed of the cured epoxy resin [Korean Journal of Organ Esophageal Journal, 2006, 12, 42], etc. improves the blocking force between the polymer driving body and the external tissues to improve the biocompatibility and blood compatibility. It is possible to secure. The coating layer is also formed in the coating layer using the dip coating, thermal evaporation method, thermosetting method commonly used in the art, and maintains the thickness range of 1-3 ΙΜ in consideration of the effect on the driving performance.

The polymer driving body according to the present invention preferably has a driving force of 0.1 g _f or more, preferably 0.1-0.2 g _f , a driving displacement of 40 ^° or more, preferably 4 ^° 90 ^° , and an intensity of 8 X 10 ^"7 Nm ² or more. For example, 1 X 10— ⁶ -5.2 χ 10 ^"6 Nm ² , the response speed is less than 2.0 mm / s, preferably 1.0-2.0 羅 / s, and the density is less than 0.3 g / cm ^3, preferably 0.20-0.25. It is advisable to maintain the g / cm ³ range.

The range suggested by the factor representing the driving characteristics of the polymer driving body of the present invention means a degree capable of performing a role as the driving body, specifically, the driving characteristics are 'above', 'less',' less than ", But this The lower limit or the upper limit of the range is limited to the extent to which the role of the driving body in the art can be performed.

 The present invention relates to (i) an isotropic stack of electroactive polymers selected from ionic polymers, conductive polymers, carbon nanolevers, dielectric polymers, electrostrictive polymers, nanoclays, silica compounds and combinations thereof, and

(ii) the electroactive polymer for a polymer driving body comprising a plurality of electrode coating layers selected from platinum, gold, silver, copper, nickel, lead, cadmium, and alloys thereof present on a portion of the surface of the lamp body; By adjusting one or more factors selected from the ion exchange capacity of the ion groups, the number of silver groups, the distribution of ion groups, the type of relative silver, the thickness of the ion exchange membrane, and the surface electrode thickness, There is a feature in the method of controlling the driving characteristics of the polymer driving body.

Looking at the characteristics of the sphere by the adjustment of these factors in more detail as follows. As the thickness of the electroactive polymer ion exchange membrane increases, the stiffness of the polymer actuator itself increases, driving displacement decreases, driving force increases, and as the amount of ions increases, the amount of moving ions increases, driving displacement increases, and water content increases. Therefore, the rigidity and driving force of the polymer driving body is reduced.

In addition, as the thickness of the electrode increases, the surface resistance continues to decrease, which plays a positive role in driving performance. However, when the thickness of the electrode becomes too thick, the driving force decreases due to an increase in the rigidity of the electrode itself. In addition, the driving performance is different depending on the type of cation that can move inside, the larger the size of the hydrated cation, the driving displacement and driving force increases.

The present invention manufactures a polymer drive by using a lamination method of a film, in particular a lamination method by thermocompression bonding. The lamination method by thermocompression is possible to form a uniform thickness as well as to secure the desired physical properties, it is easy to reproduce the square shape difficult to implement in various shapes, especially liquid casting method in a simple method. In general, a method of laminating membranes is widely known in addition to thermocompression bonding, such as casting of a liquid phase and adhesion between commercially available ion exchange membranes.

In the case of casting, three-dimensional constant casting should be applied to form a ducted shaped laminate. However, the three-dimensional cast casting method has a problem in that the duct insertion and the large area is not easy to manufacture, and the thickness control is not easy. In addition, when lamination is performed by bonding between ion exchange membranes, duct formation itself is difficult. For such a plurality of electroactive polymer ion exchange membrane as a laminate having a thickness for the ^purpose, prepared by using a film single electrical activity of the high molecular weight ion exchange polymer actuator look for high driving displacement force itself significantly away strength maintained the difficult There is a problem, and in reality, the ion exchange membrane having such a thickness and its preparation are not easy.

Method for producing a polymer driving body according to the invention, (b) laminating a plurality of electroactive polymer ion exchange membrane, (c) heating the laminated ion exchange membrane at 170-190 ^° C for 10-20 minutes Step, (d) thermocompressing the heated ion exchange membrane at 6,500-7,000 psi and 170-190 1C ^' for 10-20 minutes; (e) cutting the thermocompressed ion exchange membrane to obtain an etc. laminate And (h) coating an electrode on the surface of the lamp stack, and (i) forming an insulating layer by partially removing the electrode coating layer.

(B ') laminating an ion exchange membrane such that a duct forming lamp is present between the plurality of ion exchange membranes between the plurality of electroactive polymer ion exchange membranes, and (c) the stacked ion exchange membranes at 170-190 ^° C. Heating for 10-20 minutes at (d) thermocompressing the heated ion exchange membrane for 10-20 minutes at 6,500-7,000 psi and 170-190 ^° C., (e ') longitudinal direction of the etc. The thermally compressed ion exchange membrane so that an inner duct exists

Cutting and removing the duct-forming lamp to obtain a lamp-shaped laminate And (h) coating an electrode on the surface of the lamppost, and (i) forming an insulating layer by partially removing the electrode coating layer.

 First, (b) a plurality of electroactive polymer ion exchange membranes are laminated. At this time, in order to form the inner duct existing in the longitudinal direction of the light-emitting laminate (b ') is laminated with a silver exchange membrane so that the duct forming lamp is present between the plurality of electroactive polymer ion exchange membrane. The duct forming lamp is not particularly limited as long as it is capable of forming a duct. Specifically, the shape of the duct is small and the deformation is maintained under the conditions of high pressure and high pressure of 6500-7000 psi and 170-190. It is possible to use a wire structure capable of maintaining the diameter and having various cross-sectional shapes. For example, metal wires such as wires, copper wires, and lead wires can be used. It is performed by, but is not limited thereto. This stacking preferably forms the same number of ion exchange membranes on the surface of the guide lamp, so as to have the same thickness from the duct.

The laminating may be performed before laminating the electroactive polymer ion exchange membrane. The washing is performed to remove dust, and when fine dust remains on the surface, it inhibits the formation of uniform and excellent electrodes, thereby preventing problems in catheter performance. There is a possibility to cause it. ^"This cleaning may be generally used for non-polar organic solvent such as n- nucleic acid used to perform the degree specifically 1-5 times or more times, in the related art.

Next, (c) the laminated ion exchange membrane is heated at 170-190 1 C for 10-20 minutes.

At this time, in order to prevent adhesion between the laminated ion exchange membrane and the thermocompression mold, there is no deformation at a high temperature at which the thermocompression bonding is performed, and at the same time, after laminating the film which is not subjected to reaction with the ion exchange membrane, the thermocompression sheet is put into Put it in. Thermocompression furnace is generally used in the art of the stainless steel bar, by controlling the thickness of the bar it is possible to control the thickness of the lamp laminate of the present invention. In other words, the thickness of the mold is preferably maintained to 75-85% with respect to the thickness of the laminated electroactive polymer ion exchange membrane.

 The fluidity of the membrane interface is improved by the heating pretreatment process, and the conditions thereof are appropriate conditions under which the fluidity of the internal structure is ensured through the experiment of the thermal properties of the ion exchange membrane and the functional groups are not destroyed.

Method (Thermogr vimetry Analyzer, TGA) and differential scanning

It was confirmed by calorimetry (Differential Scanning Calorimeter, DSC). When the silver is less than 170 ^° C, the compressive force between the stacked films is significantly low, which may make it impossible to form a uniform laminated film, which exceeds 190 1 C.

In this case, there is a problem that the ion exchange membrane is melted or the interface between the surface and the membrane may burn. In addition, if the time is less than 10 minutes, the ion exchange membrane may not adhere, and if it exceeds 20 minutes, the surface-membrane interface may burn out.

It is desirable to maintain.

Next, the heated ion exchange membrane is thermocompressed at 6,500-7,000 psi and 170-190 ^° C. for 10-20 minutes.

Laminated membranes if the temperature is below 170 ^° C or the pressure is below 6500 psi

The compressive force between the remarkably low may not adhere to the ion exchange membrane,

If it exceeds 190 ^° C or exceeds 7000 psi, the thickness of the ion exchange membrane may be uneven or burned. In addition, if the time is less than 10 minutes, the ion-exchange membrane may not adhere, and if it exceeds 20 minutes, burning may occur, so it is preferable to maintain the above range. Next, (e) cutting the thermocompression-bonded ion exchange membrane to obtain an ectopic red worm. In this case, when lamination is performed such that a duct forming lamp is present between the plurality and the electroactive polymer silver exchange membrane, (e ') The thermo-compressed silver exchange membrane is pulled out so that an inner duct is present and the Removal to give the deformed red pest.

In that the step of after the removal of impurities formed in the process of thermo-compression bonding to be included as additional bar, the removal of impurities is specifically from 60-100 ^° C for 5-6 hours the hydrogen peroxide cleaning hajeong, 90-120 ^° C 3-4 It is carried out in a series of processes including washing the aqueous solution for 3 hours, washing the aqueous hydrochloric acid solution for 3-4 hours at 60-100 C, and washing the aqueous solution for 3-4 hours at 90-120 ^° C. At this time, the hydrogen peroxide and hydrochloric acid solution is preferably maintained at a concentration of 5-15% by weight.

Next, (h) the electrode is coated on the surface of the lamp stack.

Coating of the electrode forms an electrode coating layer on the surface of the etc. laminate using the electroless plating method commonly used in the art. In this case, the electroless plating may be performed under a mixed solvent in which water and alcohol maintain a weight ratio of 100: 8-30. In the case of the mixed solvent system, each single solvent such as water and alcohol commonly used in the art is used. Compared to the system, the volume increase rate of the ion exchange membrane is increased and the interface state between the electrode and the ion exchange membrane is improved, which contributes to the improvement of driving characteristics such as driving speed, driving displacement and response speed of the manufactured polymer driving body. . When the alcohol used in the mixed solvent is less than 8 weight ratio, the driving performance is increased than when using a single solvent of water, but the driving performance of the present invention may not be satisfied, and when the amount of alcohol used exceeds 30 weight ratio It is preferable to maintain the above range because a problem of separation of the thermally laminated film may occur. Alcohol is in the field of sugar

Generally used alcohols having 1 to 6 carbon atoms, specifically methanol, ethanol, isopropanol, butanol, pentanol and nucleic acidol, preferably ethanol and methane, and more preferably ethane.

The thickness of the electrode coated by the above method is in the range of 10-30 /, preferably in the range of 20-30 fM. If the thickness range is less than 10, the electrode may be unevenly formed so that the driving performance may be degraded or may not be driven. And 30 When exceeding, it is preferable to maintain the above range because a problem that driving performance may be degraded due to the rigidity of the electrode occurs.

 Next, (i) the insulating layer is removed by partially removing the electrode coating layer.

 To form. The insulating layer forming method may be performed using cutting, scratching, taping, and masking, which are generally used in the art, wherein the insulating layer has a thickness of 5-15 urn in a direction opposite to the length thereof, preferably 7-12 im. Two to eight, preferably four.

The present invention is a catheter comprising the polymer drive as described above, preferably 0.1 g _f or more, preferably 0, 1-0.2 gf drive force, 40 ° or more drive displacement of 40-90 °, 8 10 ^"7 Nm ² or more preferably 1 x 10 ^_6 -5.2 ^x 10 ^"6 Nm ² strength and less than 2.0 mm / s preferably 1.0-2.0 mm / s

It is characterized by a catheter having a stepping speed and a diameter of 1.5 kPa or less, preferably in the range of 1.5-1 kPa, wherein the catheter is used as a gimwire for catheter insertion or as an active catheter for instrument or drug injection. have. In particular, the drug is more suitable for use for thrombolysis using thrombolytics. Specifically, the catheter including the polymer drive device according to the present invention is located on the surface or inside the catheter distal end, locally injected drugs such as thrombolytics, or the catheter distal end

Insert it into the inside and apply a voltage to the physical force

Can be used to disrupt blood clots. At this time, alternating voltage

When applied to generate vibrations and inject thrombolytics at the same time to promote the blood permeation of the drug to improve the efficiency of thrombolytic dissolution.

Such a catheter is not particularly limited to one having a structure and a design generally used in the art, but specifically, an active type connected to an end of a tube after bonding an electrode to a polymer driving body having an luminescent structure having a duct for drug administration therein. Catheter structure, or guide wire structure that controls the direction of the tube by pushing another delivery catheter in the tube [IEEE International Conference on Robotics and Automat ion, 79, 1995]. Hereinafter, preferred examples are provided to help understanding of the present invention, but the following examples are merely to illustrate the present invention, and various changes and modifications within the scope and spirit of the present invention are apparent to those skilled in the art. It is natural that such variations and modifications fall within the scope of the appended claims. Example 1 Manufacture of Polymer Driving Body

Example 1-1

Nafion (180 mm thick) was cut to a size of 24 mm 49 mm, and then the surface was cleaned with n-nucleic acid to remove dust on the surface of Nafion. Laminating six sheets of Nafion membranes whose surface was treated, and during the lamination

Lamination was carried out by inserting a wire 0.5 mm in diameter between the third and fourth.

After that, the membrane was covered with a polyimide film having a characteristic of 50 (M thickness, heat resistance, etc. from above and below, and then placed in a stainless steel frame (25 mm .width X 50 mm length X 0.93 mm height. The size of the Nafion membrane can be adjusted by placing the mold on a hot-press and leaving it under pressure for about 12 minutes at about 180 ° C to destroy the functionalities of the membrane's internal structure. Under conditions

Improved fluidity These conditions were confirmed by TGA and DSC through the thermal properties of the Nafion membrane. Was isolated from the press _(hot-, press) - added after approximately 6700 psi pressure for 10 minutes at about 180 ^° C, to remove the pressure on the hot. When the temperature of the stainless steel mold drops to room temperature, the red Nafion membrane was separated from the mold.

Next, the laminated napi was first stored in an aqueous solution for about 1 hour to remove impurities from the membrane. Afterwards, to get rid of the messy things on the four sides, cut the four sides with a knife to make a rectangular shape. Remove the wire contained inside the napi silver film and 10% by weight of about 60 x:

 Boil in hydrogen peroxide for about 5 hours. Subsequently, the membrane was boiled for about 3 hours on an aqueous solution at 100 ° C .: boiled, and boiled at 70 ° C. in 10% by weight aqueous hydrochloric acid solution for about 3 hours. Thereafter, a column stack of Nafion membranes having a size of 1 mm × 1 mm × 30 mm, which was transparently stacked, was boiled for about 3 hours in an aqueous solution of 100 1 C.

In order to form an electrode coating layer of platinum on the surface of the lampshade laminate, first, a solvent mixture of 100: 30 weight ratio of water and ethanol in which [Pt (NH ₃ ) ₄ ] ₂ Cl ₂ platinum salt is dissolved at a concentration of 2 mg / ral Was impregnated with an ion exchange membrane. After 24 hours of impregnation, the ion exchange membrane was stirred at 100 rpm under a temperature of 40 ° C, and electroless plating was performed under the condition that 5 ml of NaBH ₄ 5 wt% mixed solvent was added 10 times every 30 minutes. In this case, the electrode coating layers are continuously positioned, and six are present in the opposite plane of the lamp stack. Thereafter, the upper and lower portions of the platinum electrode coating layer were cut out, and the four side edges of the platinum electrode were each scraped off using a razor to form an insulating layer to prepare a polymer driving body. Example 1-2: Change of Electroactive Polymer Type

In order to apply to Example 1, a composite was prepared using a mixture of carbon nanotubes and a solution in which an ionic polymer membrane was peeled off. Nafion aqueous solution and carbon nanotubes were mixed in a 100: 15 weight ratio and stirred for 62 hours. After the 3D constant casting method. Membranes were prepared at a thickness within 180 where the thickness uniformity was maintained. At this time, the three-dimensional constant casting was carried out while evaporating the solvent within 5 hours in the 60 ° C silver range, in the process, the carbon nanotubes and Nafion solution was formed a complex film forming a uniform film. Since the lamination and electrode coating process was performed in the same process as in Example 1. Example 1-3: Change of Electroactive Polymer Type

Proceed in the same manner as in Example 1, in order to introduce the conductive polymer, Nafion lamp obtained after the manufacture of the lamp-shaped structure was impregnated with 0.07 M of blood in an aqueous solution for 5 minutes. Thereafter, the polypyrrole was polymerized near the surface by impregnation with 20 wt% hydrogen peroxide. The conductive polymer composite obtained through this process was repeatedly washed with 0.7 M sulfuric acid, nitric acid, and water at room temperature and high temperature (60 ^° C) for 1 hour interval. Since the prepared composite is subjected to the electrode coating process the same as in Example 1

Formed. Example 1-4 ： Type change of electroactive polymer

The same process as in Example 1-1, but instead of napi was used to prepare a polymer drive body using a 180 im thick polyacrylate. Example 1-5 ： Type change of electroactive polymer

In the same manner as in Example 1-1, but instead of Nafion, 180 im thick polyurethane was used to prepare a polymer driving body. Example 1-6 ： Type change of electroactive polymer

A polymer driving body was prepared in the same manner as in Example 1-1, using nanoclay having a sulfonation group having a thickness of 180 urn instead of Nafion. Example 1-7 ： Type change of electroactive polymer

But the same manner as in Example 1-1, instead of Nafion 180 was prepared im use a silica compound having a sulfone firearm having a thickness of ^'using a polymer actuator on. Example 1-8 ： Adding a Layer to the Surface of the Polymer Actuator

In the same manner as in Example 1-1, the polymer driving body prepared in Example 1-1 to the polyurethane solution was dip-coated to prepare a polymer driving body in which the polyurethane coating layer was formed on the electrode coating layer and the insulating layer surface. . Example 1-9 ： Change of loading conditions of the electroactive polymer

In the same manner as in Example 1-1, the polymer drive body was prepared by varying the lamination temperature of the electroactive polymer Nafion at 130 C, 200 C and the lamination pressure at 3000 psi and 8000 psi, respectively.

When the stacking temperature was increased to 130 TC, the Nafion membrane did not adhere properly, and thus the membrane was easily separated. When the stack was carried out at 200 X, the interface between the surface of the membrane and the laminated layer burned black. In addition, when the stacking pressure was increased to 3000 psi, the membrane did not stick properly and was easily separated. When the stacking pressure was increased to 8000 psi, the film (800 im or less) was formed much thinner than the desired thickness to obtain the desired driving characteristics. I could confirm that there is no. Example 1-10 ： Change in the type of mixed solvent in electroless plating

In the same manner as in Example i, instead of the electroless plating ethanol for forming the electrode layer, the electrode coating under the mixed solvent of water and methanol (100: 20 weight ratio), water and isopropanol (10 (): 20 weight ratio), respectively. To prepare a polymer driving body.

Even when such a mixed solvent of water, methanol, water and isopropanol was used, driving characteristics such as driving force, driving displacement, and driving speed, similar to those of Example 1-1, were maintained. However, in the case of using isopropane, the degree of swelling of the ion exchange membrane rapidly increased and the loaded membrane was separated, so that the mixing ratio of water and isopropanol was required to be controlled. Example 1-11: Use of a Single Solvent System in Electroless Plating

 In the same manner as in Example 1-1, in the electroless plating for forming an electrode layer, a polymer driving body was prepared by performing electrode coating under a single solvent of water instead of a mixed solvent of water and ethanol.

As a result of measuring the surface resistance and the driving displacement of the manufactured polymer driving body and comparing it with the case of using the mixed solvent of Example 1-1, the surface resistance was from 3-7 Ω (Example 1-1) to 15-20 Ω. As a result, the driving displacement decreased from 38-45 ^° (Shichei Example 1-1) to 13-17 °. In addition, the speed was 1.5-2 times slower than in Example 1-1, and the time required for the 45 ° bending was increased from 7-9 seconds (Example 1-1) to 15-17 seconds (DC 4V). Example 1-12 ： Change in the content of the mixed solvent in the electroless plating

In the same manner as in Example 1, when the electroless plating for forming the electrode layer, the polymer was prepared by electrode coating at a composition ratio of 100: 5 weight ratio and 100: 60 weight ratio of water and ethane, respectively. .

When the composition bar of water and ethane is 100: 5 weight ratio, the electrode coating layer is thinner and thinner than the embodiment 1-1, and the driving performance is lowered.

In the range, the laminated ion exchange membrane fell, and lamination property fell.

That is, it was confirmed that water and alcohol used as a mixed solvent in electroless plating could form an optimal electrode coating worm in the range of 100: 8-30 weight ratio. Example 1-13: Recovery change of electroless plating

In the same manner as in Example 1-1, the electroless plating was repeated 2, 3 and 4 times to prepare a polymer driving body.

As a result, the electrode coating worm formed by performing the electroless plating twice increased the driving performance of the polymer driving body, but as the number of platings increased three times and four times. It was confirmed that the driving performance is reduced. Comparative Example 1

 In the same manner as in Example 1-1, using a commercially available Nafion membrane without lamination without lamination, the electrode was coated to prepare a catheter. Commercially available Nafion 117 (US DuPont) has a thickness of 180 가지고 and it is difficult to have a square cross section when making guide wires or catheters using them. Inadequately difficult to apply as a catheter. Comparative Example 2

First, the same procedure as in Example 1-1 was carried out, and the Nafion membrane was manufactured by using three-dimensional constant casting instead of lamination. At this time, the three-dimensional constant casting was made of 15 wt% Nafion solution at a temperature of 60 ^° C. while evaporating the solvent within 5 hours at 180 ^° (M thickness).

A catheter was prepared by adhering the prepared Nafion membrane or a commercially available membrane (Dupont Corporation 175-185 thick Nafion membrane) with Nafion solution ^ electrode coating. At this time, the Nafion solution was applied by applying a brush at a concentration of 15% by weight or by applying a Nafion solution with ¾ coating and then adhesive was prepared by evaporating the solvent within 5 hours at 60 ^° C temperature.

 Due to the limitations of the casting and bonding method, it was not possible to fabricate the duct inside the driving body.

 The limitation of separation (adhesion) did not show suitable driving characteristics for catheter. Example 2 Catheter for Guide Wire

The ion exchange membrane was manufactured in the same manner as in Example 1-1 except that the Nafion membrane was laminated except for the wire in the lamination process. The following procedure was performed to make the prepared membrane into a polymer driver having bidirectional and tetradirectional properties. First, in order to fabricate the 4-way polymer driving body, the laminated film is cut to a size of 1 mm X 1 ram X 30 mm, and then subjected to the same electrode coating process and insulation process as in Example 1-1. The driving body for the guide wire which can drive in 4 directions was produced. In order to fabricate the bidirectional polymer driver, the same electrode coating process as in Example 1-1 was performed without cutting the laminated film. Thereafter, the electrode-coated ionic polymer membrane was cut into a size of 1 mm X 1 mm X 30 mm, and a catheter for guide wires capable of driving in two directions, in which two pairs of electrodes were positioned on two opposite surfaces, was grayed out. In this manner, each of the guide wire catheter was used by using the polymer driver grayed out in Examples 1-2 to 1-12 and Comparative Examples 1 to 2.

Prepared. Example 3 Active Catheter

After welding the enameled copper wire having a diameter of 0.08 讓, which is used as an electric wire, to the polymer drive body of the shaped structure having a drug administration duct therein using the polymer drive body manufactured in Example 1-1 at high voltage, The welded portion was sealed with a conductive adhesive. Then, the whole was coated with a heat shrinkable high-gauge such as silicon, and the active tip was inserted at the end of the tube and then connected to produce an active catheter [IEEE International Conference on Robtics and Automat ion, 79, 1995]. In this manner, each active catheter was manufactured using the polymer driving bodies prepared in Examples 1-2 to 1-12 and Comparative Examples 1 to 2. Comparative Example 3

The inner ribs made of a conventionally coated stainless steel coil and the outer wall of the inner ribs are covered with a stainless steel coil, and the stainless steel coil and the formed memory alloy coil (TiNiK wire diameter: 30 / m, coil are located in front of the inner tube outer wall). Background: becomes wrapped in the 150 // m) ^may,. And the whole is covered with a parylene-coated polyurethane, so the active catheter (thickness 1.4 mm)

 [Proceedings of the IEEE, 2004, 92, 98]. Experimental Example 1

The catheter prepared in Examples 2 and 3 was measured in the physical properties as described below and the results are shown in the following table.

[Measurement method]

 1) Driving force ： Measure 10 seconds at DC 6V using a laser drive meter.

 2) Drive Displacement: Measure by using laser drive meter at DC 6V for 10 seconds.

 3) Density ： Calculated by the ratio of total weight and volume.

 4) Strength: Calculated by measuring bending stiffness using a laser drive meter.

 5) Response speed: Calculate the response speed of the displacement to the electrical signal.

At this time, the chord speed means a mechanical response. The electrical response, which measures how long it starts to move when an electrical signal is given, occurs in the range of several seconds, making it difficult to measure it in practice. In the driving body, the hydrated ear is driven by an electrical stimulus from the outside, and the driving speed is increased because the movement speed of ions is less than / s. Based on this, it is based on moving to a range of specific displacement, and it takes how long it takes to reach the point, and sets the mechanical response to the mechanical response speed. Set. With the limit of 15 mm, which is the maximum measurement limit of the current drive displacement accumulator, the time taken to reach the limit was measured, and the reaction rate was measured in units of 'mm / s'.

 Table 1

0.25

0.23- rod Example 1-11 2.245 44.0 1-5.2 1.88-0.25

0.23- rod Example 1-12 2.688 42.4 1-5.2 1.81-0.25

0.23-tube ³⁾ Example 1-1 2.030 33.3 1-5.2 1.43-0.25

0.23-tube Examples 1-2 2.061 39.0 1-5.2 1.67-0.25

0.23-tube Examples 1-3 2.694 35.9 1-5.2 1.54-0.25

0.23-tube Examples 1-4 2.673 45.2 1-5.2 1.92-0.25 Seal 0.23- Tube Examples 1-5 2.635 39.9 1-5.2 1.71-Hours 0.25 Examples 0.23- Tube Examples 1-6 2.793 40.8 1-5.2 1.74- 0.25

 3 0.23-tube Examples 1-7 2.263 44.0 1-5.2 1.87-0.25

0.23-tube Examples 1-8 2.012 35.9 1-5.2 1.54-0.25

0.23-tube Examples 1-9 2.086 43.1 1-5.2 1.84-0.25

0.23-tube Examples 1-10 2.681 40.0 1-5.2 1.71-0.25 tube Examples 1-11 2.128 36.1 0.23- 1-5.2 1.55- 0.25

0.23-tube Examples 1-12 2.651 40.1 1-5.2 1.71-0.25 Various cross section fabrication Comparative example 180 without lamination

 beam 0.15 40---impossible ，

1 μα Nafion membrane

 No Duct Fabrication Uniform Comparative Example 3D Constant nV

 ，， tube-----2 casting method not manufactured Comparative example Shape memory alloy

 tube 200 Μ <8% 5-6--3

1) rod: A polymer drive body in which electrodes are coated on four sides of a columnar laminate.

 2) beam: A polymer drive body coated with electrodes on two opposite surfaces of a light-emitting laminate.

3) tube: Polymer driving body in which the duct exists in the longitudinal direction of the lamppost stack and the electrode is coated on the four sides of the lamppost stack. b

As shown in Table 1, the catheter manufactured using the polymer driving body according to the present invention has a driving force of 0.2 g _f or more, a driving displacement of 40 ° or more, a response speed of less than 2.0 mm / s, and an intensity of X 8 is at least 10- ⁷ Nm ^2, it was confirmed that the density of maintaining eu 0.25 g / cm under ^3. On the other hand, the catheter manufactured without applying the lamination method (Comparative Example 1) has a very good reaction speed and driving displacement due to the reduction of the rigidity of the ion exchange membrane itself, but due to the significant reduction of the driving force, which is the upper layer of the physical properties. Real active

Application to catheter was not possible (~ 0.1 _gf or less). Also, the commercial curtain Because it is an example of making a driving body by using the internal duct formation must be forced, but due to the thickness limit (175-185) it was impossible to force the drilling.

The catheter manufactured by 3D constant casting method (Comparative Example 2) has a problem that it is difficult to insert the metal wire sculpture for forming the internal duct, and therefore, the duct formation is very difficult. It was difficult to make the thickness uniform. In addition, the casting to form a catheter sizeable thickness of 900-1100 im thickness occurs simultaneously with the evaporation of the internal solvent and the film formation on the surface during the film formation at high temperature (60-100 ^° C) for rapid film production. Cracks on the surface of the membrane

And this becomes non-uniformity phenomenon occurs, has created a uniform ^film, when the film formed on the stirring was the disadvantage of the time required to be a film forming takes much longer (~ 72 or more hr). Also, without the heat treatment necessary for film formation

When the film is thickened by the three-dimensional constant casting method, the rigidity of the laminated film is increased too much, and when it is formed as a driving body, the displacement is significantly decreased. This is a physical property far from that of applying a uniform film that requires a certain level of driving force as in the present invention. The catheter using the shape memory alloy (Comparative Example 3) is largely moved based on the volume change using the change of the internal crystal structure of the metal according to the change of silver, which requires smooth and even heat transfer to the inside of the metal. That is, a sufficient drive is made only when a change of the structure is induced in a state in which sufficient heat and time are given.

The thermal response rate, which requires sufficient time compared to the electrical response rate, is relatively slow (msec ~ min). Also

Since the temperature range for driving the shape memory alloy occurs in a higher range than the temperature range for the application in the body, there is a great deal of practical application in the human body.

Claims

[Range of request]

 [Claim 1]

 (i) the electrically conductive polymer laminates, and

 (ii) a polymer drive comprising a plurality of electrode coating layers present on a portion of the surface of the lampshade stack;

The electroactive polymer is selected from silver polymer, conductive polymer, carbon nanotube, dielectric polymer, electrostrictive polymer, nano clay, silica compound and combinations thereof;

The ionic polymer is a fluorine-based polymer having at least one ion group selected from a sulfonic acid group and a carbonyl group, and the fluorine-based polymer is one or a combination of two or more selected from the following:

CCF _j CFHCF _j CFa)

0-CF ₂ CF (CF ₃ ) -0-CF2CF2

-(CH ₂ CF ₂ )--(CH2CH2)-(CF ₂ CF2)--(CH ₂ CF ₂ HCF ₂ CF)-CF ₃

-(CF ₂ CF ₂ )-(CF ₂ CF)-CF ₃ . The conductive polymer is selected from polyaniline, polypy, polysulfone, polyacetylene, and combinations thereof;

The dielectric polymer is polyacrylate, silicon,

Polyvinylidene fluoride and combinations thereof;

The electrostrain polymer is selected from polyacrylates, silicones, polyurethanes, and combinations thereof;

The nanoclay is one or more ionic groups selected from sulfonated and carbonyl groups are introduced;

The silica compound is a silica modified through sulfonation or carbonylation Selected from monomers and combinations thereof;

 The electrode is a polymer driving device for a catheter, characterized in that selected from platinum, gold, copper, silver, nickel, lead, cadmium and alloys thereof.

 [Claim 2]

 The method of claim 1, wherein the polymer driving body

 (iii) a polymer drive further comprising an inner duct present in the longitudinal direction of the laminar stack.

 [Claim 3]

3. The system of claim 1 or 2, wherein the shaped stack has a cross section selected from quadrilateral, hexagonal, octagonal and circular;

The plurality of electrode coating layers are continuously or intermittently positioned in the longitudinal direction of the light emitting stack, and are present in even numbers so as to be opposite to the surface of the planar or curved surface of the light emitting stack, and a gap is formed between the plurality of electrode coating layers. Exists and insulated;

The duct has a cross section with a long axis of 0.2-0.5 mm, and the ratio (D: d) of the long axis (D) of the cross section of the ridged laminate is 1: 0.2-0.5 Polymer driving body.

 [Claim 4]

The method of claim 3, wherein the drive body

(iv) the gideung type stack and the electrode coating layer between the conductive polymer, carbon nanotubes, and ^transition, a single layer or two or more kinds of metal oxide selected from common hapcheung, and

 (V) The polymer drive body further comprises at least one layer selected from silicon-based, epoxy-based, parylene-based and polyurethane-based coating layers present on the electrode coating layer and the insulating layer.

 [Claim 5]

The method of claim 3, wherein the polymer drive body has a driving force of at least 0.2 g _f , A polymer drive, characterized in that the drive displacement is 40 ^° or more, the strength is 8 X 10 ^"7 Nm ² or more, the stepping speed is less than 2.0 mm / s, the density is less than 0.25 g / cm ³ '.

 [Claim 6]

 The method of claim 5, wherein the light emitting stack

After stacking a plurality of fluorine-based polymer ion exchange membrane and heated at 170-190 C for 10-20 minutes,

Wherein the heated ion exchange membrane is compressed by thermocompression at 6,500-7,000 psi and 170-190 for 10-20 minutes.

 [Claim 7]

The method of claim 1, wherein the lamp-shaped laminate. The water is a polymer driving body, characterized in that it is manufactured so that the final thickness of 900-1100 kPa by thermocompression bonding the electroactive polymer having a thickness of 175-185.

 [Claim 8]

 (b) stacking a plurality of electroactive polymer silver exchange membranes;

(c) heating the laminated ion exchange membrane at 170-190 ^° C. for 10-20 minutes;

(d) thermocompressing the heated ion exchange membrane at 6,500-7,000 psi and 170-190 ^° C. for 10-20 minutes;

 e.

(h) coating an electrode on the surface of the shaped laminate; and iii.

 (i) forming a dielectric layer by partially removing the electrode coating layer;

The electroactive polymer is selected from ionic polymers, conductive polymers, carbon nanotubes, dielectric polymers, electrostrictive polymers, nanoclays, silica compounds, and combinations thereof;

The ionic polymer is a total of at least I selected from a sulfonic acid group and a carbonyl group A fluorine-based polymer having a silver group introduced therein, wherein the fluorine-based polymer is one or a combination of two or more selected from the following:

-(CF ₂ CFHCF2CF ₂

OCF ₂ CF (CF ₃ > CF ₂ CF ₂

-(CH ₂ CF ₂ )--(CHaCH ^ fCFzCF _j ):

-(CF ₂ CF ₂ )-(CF ₂ CF)-CF ₃ ; The conductive polymer is selected from polyaniline, polypyrrole, polysulfone, polyacetylene and combinations thereof;

The dielectric polymer is polyacrylate, silicone,

Polyvinylidene fluoride and will thereof in combination selected ^';

The electrostrain polymer is selected from polyacrylates, silicones, polyurethanes, and combinations thereof;

The nanoclay is one or more ionic groups selected from a sulfonated group and a key: carbonyl group;

The silica compound is a silica modified through sulfonation or carbonylation

Selected from monomers and combinations thereof;

The electrode is a method of manufacturing a polymer driving body, characterized in that selected from platinum, gold, copper, silver, nickel, lead, cadmium and alloys thereof. ,

 [Claim 9]

(b ^* ) stacking an ion exchange membrane such that a duct forming pillar exists between the plurality of electroactive polymer ion exchange membranes between the plurality of ion exchange membranes,

(c) heating the laminated ion exchange membrane at 170-190 ^° C. for 10-2Q minutes,

(d) the heated ion exchange membrane at 0,500-7,000 psi and 170-190 ^° C. Thermocompression step for minutes ，

 (e ') cutting the thermo-compressed ion exchange membrane such that an inner duct is present in the longitudinal direction of the lamppost-loaded remnant, and removing the lamp for forming the duct to obtain a lamp-shaped laminate.

(h) coating an electrode on the surface of the lamp stack; and

 (i) forming a dielectric layer by partially removing the electrode coating layer;

The electroactive polymer is selected from ionic polymers, conductive polymers, carbon nanotubes, dielectric polymers, electrostrictive polymers, nanoclays, silica compounds, and combinations thereof;

The ionic polymer is a fluorine-based polymer in which at least one ionic group is selected from a sulfonic acid group and a carbonyl group, and the fluorine-based polymer is one or a combination of two or more selected from the following:

-(CH ₂ CF-(CH2CH2)-(CF ₂ CF ₂

-(CH ₂ CF ₂ HCF ₂ CF)-CF ₃

-(CF ₂ CF ₂ )-(CF ₂ CF)-CF ₃ .

The conductive polymer is selected from polyaniline, flippy, polysulfone, polyacetylene and combinations thereof;

The dielectric polymer is polyacrylate, silicon,

Polyvinylidene fluoride and combinations thereof;

The electrostrain polymer is selected from polyacrylates, silicones, polyurethanes, and combinations thereof;

The nanoclay is at least one selected from a sulfonated group and a carbonyl group Ionic groups are introduced;

 The silica compound is selected from silica monomers modified through sulfonation or carbonylation and combinations thereof;

The electrode is a method of manufacturing a polymer driving body, characterized in that selected from platinum, gold, copper, silver, nickel, lead, cadmium and alloys thereof.

 [Claim 10]

The method according to claim 8 or 9,

The electrode coating step (h) is carried out under a mixed solvent of water and alcohol weight ratio of 100: 8-30,

The step (i) of forming an insulating layer may be performed in an even number such that a plurality of electrode coating layers are continuously or intermittently ^ in the longitudinal direction of the columnar stack and stand on an opposing plane or curved surface of the lamp stack.

Method for producing a polymer drive body, characterized in that to carry out.

 [Claim 11]

The method of claim 10, wherein the polymer driving body manufacturing method

 (a) washing the electroactive polymer ion exchange membrane;

 (f) removing impurities in the shaped stack;

 (g) a single layer or two or more mixed layers selected from conductive polymers, carbon nanotubes, and transition metal oxides on the surface of the lamp stack

Forming; and

 (j) The method of claim 1, further comprising at least one step selected from the steps of coating silicon or polyurethane on the electrode coating layer and the insulating layer.

 [Claim 12]

11. The system of claim 10, wherein the shaped stack has a cross section selected from octagons, hexagons, octagons, and circles;

The duct has a cross section with a major axis of 0.2-0.5 mm 3, and the lamp stack The ratio (D: d) of the major axis (D) of the cross section to the major axis (d) of the duct is 1: 0.2-0.5;

The polymer driving body has a driving force of 0.2 g _f or more, a driving displacement of 40 ° or more, a strength of 8 X 10 ^"7 Nm ² or more, a stepping speed of less than 2.0 mra / s, and a density of less than 0.25 g / cm ^3. Method for producing a polymer drive body, characterized in that.

 [Claim 13]

As the catheter comprising a polymer actuator according to 3, 0.2 g _f or more force, more than 40 ^° displacement drive, 8 X 10- ⁷ Nm ² or more strength, 0.25 g / cm ³ and a density of less than 2.0 mm / s under It has a step speed of less than 1.5 직경 in diameter,

The catheter may be used as a guidewire for catheter insertion or as an active catheter for device or drug injection.

 [Claim 14]

The catheter of claim 13, wherein the drug is thrombolytic.

[Claim 15]

 (i) an isotropic electroactive polymer antagonist selected from ionic polymers, conductive polymers, carbon nanotubes, dielectric polymers, electrostrictive polymers, nanoclays, silica compounds and combinations thereof, and

 (ii) platinum, gold, copper, silver, nickel, lead, cadmium and the like present on a portion of the surface of the shaped laminate. For a polymer driving body comprising a plurality of electrode coating layer selected from the alloy,

The driving force, driving displacement and the Method to control the driving characteristics of polymer actuator selected from