It includes an extension device 20 attached to the handle 30 and a plurality of conductive shape memory elements 33 completely contained within the handle, the extension device having a flexible tip 21 and a flexible tip 21 at the distal end of the extension device. Each shape memory element, including a plurality of pullwires 23 attached to the tip, is coupled in the longitudinal direction between one of the pullwires and a current source connection 61 that provides current to the conductive shape memory element. Extending, each conductive shape memory element discloses an invasive medical device 10 having a negative expansion coefficient in the length direction. The invasive medical device 10 preferably includes cooling devices 70, 80 for a plurality of conductive shape memory elements in order to shorten the relaxation time of the shape memory element. Also disclosed are invasive medical device devices, including such invasive medical devices, and imaging systems that work with such invasive medical device devices.ハンドル３０に取り付けられた伸長機器部２０と、ハンドル内に完全に含まれる複数の導電性形状記憶素子３３とを含み、伸長機器部は、伸長機器部の遠位端におけるフレキシブル先端部２１及びフレキシブル先端部に取り付けられた複数のプルワイヤ２３を含み、各形状記憶素子は、プルワイヤの１つと、導電性形状記憶素子に電流を提供する電流源接続部６１との間に結合され、長さ方向に延在し、各導電性形状記憶素子は、当該長さ方向において負の膨張係数を有する侵襲的医療機器１０が開示される。侵襲的医療機器１０は、形状記憶素子の弛緩時間を短縮するために、複数の導電性形状記憶素子用の冷却装置７０、８０を含むことが好適である。また、このような侵襲的医療機器を含む侵襲的医療機器装置及びこのような侵襲的医療機器装置と協働する撮像システムも開示される。
