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Selective Navigating and Unclogging Motions of an Intravascular Helical Magnetic Microrobot Actuated by Hybrid External Rotating Magnetic Fields

Authors
Jeon, SeungmunNam, JaekwangLee, WonseoJang, Gun hee
Issue Date
Jun-2017
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Keywords
External rotating magnetic field; helical millirobot; intravascular; magnetic navigation system (MNS)
Citation
IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.22, no.3, pp.1456 - 1464
Indexed
SCIE
SCOPUS
Journal Title
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume
22
Number
3
Start Page
1456
End Page
1464
URI
https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/152165
DOI
10.1109/TMECH.2017.2682106
ISSN
1083-4435
Abstract
Intravascular helical magnetic millirobots (IHMMs) capable of navigating in and unclogging human blood vessels have been widely investigated as a possible means for the treatment of occlusive vascular diseases. However, conventional IHMMs are based on a bodily helical motion whereby the overall structure of the IHMM rotates at the same time, making it impossible to separate the navigating and unclogging motions. Herein, we propose a novel IHMM composed of a helical body and a drilling rotary tip whose rotating axes are perpendicular to each other. We have also derived an external biaxial rotating magnetic field (EBRMF), composed of two orthogonally rotating magnetic fields, that is suitable for independent or simultaneous manipulation of the helical navigating and rotary-tip drilling (unclogging) motions of the proposed IHMM. This enables safe and precise use of the IHMM for treatment of occlusive vascular diseases, including the generation of fast rotary-tip drilling motion combined with relatively slow helical navigating motion toward a clogged point. This kind of motion reduces the risk of damaging the blood vessel walls. We conducted various experiments demonstrating the EBRMF and controlled motions of the IHMM to show the efficacy of the proposed structure and method.
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COLLEGE OF ENGINEERING (SCHOOL OF MECHANICAL ENGINEERING)
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