Effective Locomotion and Precise Unclogging Motion of an Untethered Flexible-Legged Magnetic Robot for Vascular Diseases
- Authors
- Lee, Wonseo; Nam, Jaekwang; Kim, Jongyul; Jung, Eunsoo; Jang, Gunhee
- Issue Date
- Feb-2018
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Flexible robot; magnetic navigation system (MNS); magnetic robot; medical robot; vascular disease
- Citation
- IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, v.65, no.2, pp.1388 - 1397
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
- Volume
- 65
- Number
- 2
- Start Page
- 1388
- End Page
- 1397
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/17792
- DOI
- 10.1109/TIE.2017.2726973
- ISSN
- 0278-0046
- Abstract
- We propose an untethered flexible-legged magnetic robot (FLMR) manipulated by an external rotating magnetic field (ERMF) to generate effective locomotion and precise unclogging motion to treat vascular diseases. The proposed FLMR is composed of a front body with a drill tip, a cylindrical permanent magnet, a rear body, and flexible legs. The flexible legs are obliquely attached to the bodies like blades of a propeller, so that the FLMR can generate propulsive force in a fluidic environment for locomotion and unclogging motions. To provide manipulation guidelines for locomotion and unclogging motions, we developed a dynamic model of propulsive force, axial force, and friction force, and we established a control method of propulsive force according to the rotating frequency of the ERMF and the diameter of the tube, based on the proposed dynamic model. Finally, we prototyped the FLMR and conducted several experiments to verify its navigation performances and the control method of the propulsive force. Also, we conducted an in vitro experiment with a pseudo blood clot to demonstrate the validity of the locomotion and unclogging motions of the FLMR.
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