Cited 5 time in webofscience Cited 3 time in scopus

A Magnetically Controlled Soft Microrobot Steering a Guidewire in a Three-Dimensional Phantom Vascular Network

Title
A Magnetically Controlled Soft Microrobot Steering a Guidewire in a Three-Dimensional Phantom Vascular Network
Authors
Jeon, SungwoongHoshiar, Ali KafashKim, KanghoLee, SeungminKim, EunheeLee, SunkeyKim, Jin-youngNelson, Bradley J.Cha, Hyo-JeongYi, Byung-JuChoi, Hong Soo
DGIST Authors
Kim, Jin-youngChoi, Hong Soo
Issue Date
2019-02
Citation
Soft Robotics, 6(1), 54-68
Type
Article
Article Type
Article
Author Keywords
soft microrobotguidewirepercutaneous coronary intervention (PCI)steerabilityintravascular treatmentsmagnetic steering
Keywords
CHRONIC TOTAL OCCLUSIONSFABRICATIONSYSTEMMANIPULATIONDISEASEDEVICESUPDATEBIOPSYMODELMRI
ISSN
2169-5172
Abstract
Magnetically actuated soft robots may improve the treatment of disseminated intravascular coagulation. Significant progress has been made in the development of soft robotic systems that steer catheters. A more challenging task, however, is the development of systems that steer sub-millimeter-diameter guidewires during intravascular treatments; a novel microrobotic approach is required for steering. In this article, we develop a novel, magnetically actuated, soft microrobotic system, increasing the steerability of a conventional guidewire. The soft microrobot is attached to the tip of the guidewire, and it is magnetically steered by changing the direction and intensity of an external magnetic field. The microrobot is fabricated via replica molding and features a soft body made of polydimethylsiloxane, two permanent magnets, and a microspring. We developed a mathematical model mapping deformation of the soft microrobot using a feed-forward approach toward steering. Then, we used the model to steer a guidewire. The angulation of the microrobot can be controlled from 21.1° to 132.7° by using a magnetic field of an intensity of 15 mT. Steerability was confirmed by two-dimensional in vitro tracking. Finally, a guidewire with the soft microrobot was tested by using a three-dimensional (3D) phantom of the coronary artery to verify steerability in 3D space. © 2019, Mary Ann Liebert, Inc.
URI
http://hdl.handle.net/20.500.11750/9375
DOI
10.1089/soro.2018.0019
Publisher
Mary Ann Liebert, Inc.
Related Researcher
  • Author Choi, Hongsoo Bio-Micro Robotics Lab
  • Research Interests Micro/Nano robot; Neural prostheses; MEMS; BMI; MEMS/NEMS; BioMEMS; MEMS 초음파 트랜스듀스; 인공와우
Files:
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Collection:
Department of Robotics EngineeringBio-Micro Robotics Lab1. Journal Articles


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