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

Title
Development of magnetically controlled guidewire-based soft microrobot and drilling microrobot for chronic total occlusion
Translated Title
Development of magnetically controlled guidewire-based soft microrobot and drilling microrobot for chronic total occlusion
Authors
Kangho Kim
DGIST Authors
Kangho Kim
Advisor(s)
최홍수
Co-Advisor(s)
Jin-young Kim
Issue Date
2019
Available Date
2019-08-23
Degree Date
2019-08-01
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 phantoms ···················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
Robotics Engineering
University
DGIST
Files:
There are no files associated with this item.
Collection:
Department of Robotics EngineeringETCETC


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