Cited 2 time in webofscience Cited 3 time in scopus

Steering Algorithm for a Flexible Microrobot to Enhance Guidewire Control in a Coronary Angioplasty Application

Title
Steering Algorithm for a Flexible Microrobot to Enhance Guidewire Control in a Coronary Angioplasty Application
Authors
Hoshiar, Ali KafashJeon, SungwoongKim, KanghoLee, SeungminKim, Jin-youngChoi, Hong Soo
DGIST Authors
Kim, Jin-youngChoi, Hong Soo
Issue Date
2018-12
Citation
Micromachines, 9(12), 617
Type
Article
Article Type
Article
Author Keywords
flexible microrobotangioplastycoronary artery diseasemagnetic steering
Keywords
CATHETERSSYSTEM
ISSN
2072-666X
Abstract
Magnetically driven microrobots have been widely studied for various biomedical applications in the past decade. An important application of these biomedical microrobots is heart disease treatment. In intravascular treatments, a particular challenge is the submillimeter-sized guidewire steering; this requires a new microrobotic approach. In this study, a flexible microrobot was fabricated by the replica molding method, which consists of three parts: (1) a flexible polydimethylsiloxane (PDMS) body, (2) two permanent magnets, and (3) a micro-spring connector. A mathematical model was developed to describe the relationship between the magnetic field and the deformation. A system identification approach and an algorithm were proposed for steering. The microrobot was fabricated, and the models for steering were experimentally validated under a magnetic field intensity of 15 mT. Limitations to control were identified, and the microrobot was steered in an arbitrary path using the proposed model. Furthermore, the flexible microrobot was steered using the guidewire within a three-dimensional (3D) transparent phantom of the right coronary artery filled with water, to show the potential application in a realistic environment. The flexible microrobot presented here showed promising results for enhancing guidewire steering in percutaneous coronary intervention (PCI). © 2018 by the authors.
URI
http://hdl.handle.net/20.500.11750/9570
DOI
10.3390/mi9120617
Publisher
Multidisciplinary Digital Publishing Institute (MDPI)
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:
Collection:
Department of Robotics EngineeringBio-Micro Robotics Lab1. Journal Articles


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