Title

Development of magnetically controlled guidewire-based soft microrobot
and drilling microrobot for chronic total occlusion

Alternative Title

Development of magnetically controlled guidewire-based soft microrobot and drilling microrobot for chronic total occlusion

DGIST Authors

Choi, Hongsoo ; Kim, Jin-young ; Kim, Kangho

Advisor

최홍수

Co-Advisor(s)

Jin-young Kim

Issued Date

2019

Awarded Date

2019-08

Citation

Kangho Kim. (2019). Development of magnetically controlled guidewire-based soft microrobot
and drilling microrobot for chronic total occlusion. doi: 10.22677/thesis.200000220053

Type

Thesis

Description

마이크로로봇

Table Of Contents

ABSTRACT······························································································i
List of contents ··························································································ⅲ
List of figures ····························································································v
1. Introduction ························································································8
1.1 Cardiovascular system·········································································8
1.2 CVDs and atherosclerosis ····································································9
1.2.1 Coronary artery disease and CTO ················································11
1.2.2 Stroke ················································································12
1.2.3 Peripheral vascular disease ························································13
1.3 Current treatment for atherosclerosis ······················································14
1.4 Medical magnetic microrobots ·····························································17
1.4.1 Magnetic microrobots and moving mechanism ································17
1.4.2 Magnetic microrobots for biomedical application ·····························23
1.4.3 Magnetic microrobots for intravascular treatment ·····························28
1.5 Objective of research ········································································33

2. Magnetically actuated guidewire-based soft microrobot ·····································36
2.1 Design and mechanism ······································································36
2.2 Fabrication ····················································································38
2.3 Experimental setup for magnetic actuation of the GSM ·································43
2.4 Steering experiment of the soft microrobot ···············································45
2.5 Tracking experiment of the GSM in 2D and 3D vascular phantoMaster ···················47
2.5.1 Trajectory tracking of the GSM in the 2D phantom ··························47
2.5.2 Trajectory tracking of the GSM in the 3D phantom ····························49
3. Magnetically actuated guidewire-based drilling microrobot(DMR) ·······················51
3.1 Design and mechanism ······································································51
3.2 Fabrication ····················································································54
3.3 Experimental setup for the test using the DMR ··········································55
3.4 Driving test of the DMR in 1D horizontal phantom ·····································57
3.5 Drilling test of the DMR in 1D horizontal phantom ······································59
4. Conclusions and discussions ···································································60
5. Future work ························································································63
Acknowledgement ·····················································································65
References ······························································································66
Summary in Korean ···················································································75
Appendix ································································································78

URI

http://dgist.dcollection.net/common/orgView/200000220053
http://hdl.handle.net/20.500.11750/10457

DOI

10.22677/thesis.200000220053

Degree

Master

Department

Department of Robotics Engineering

Publisher

DGIST

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