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
- Alternative Title
- Development of magnetically controlled guidewire-based soft microrobot and drilling microrobot for chronic total occlusion
- Author(s)
- Kangho Kim
- DGIST Authors
- Choi, Hongsoo ; Kim, Jin-young ; Kim, Kangho
- Advisor
- 최홍수
- Co-Advisor(s)
- Jin-young Kim
- Issued Date
- 2019
- Awarded Date
- 2019-08
- 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
- Degree
- Master
- Department
- Department of Robotics Engineering
- Publisher
- DGIST
- Related Researcher
-
-
Choi, Hongsoo
- Research Interests Micro/Nano robot; Neural prostheses; MEMS; BMI; MEMS/NEMS; BioMEMS; MEMS 초음파 트랜스듀스; 인공와우
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- Appears in Collections:
- Department of Robotics and Mechatronics Engineering Theses Master
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