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Improving guidewire-mediated steerability of a magnetically actuated flexible microrobot

Title
Improving guidewire-mediated steerability of a magnetically actuated flexible microrobot
Authors
Jeon, SungwoongHoshiar, Ali KafashKim, SangwonLee, SeungminKim, EunheeLee, SunkeyKim, KanghoLee, Jeong HunKim, Jin-youngChoi, Hong Soo
DGIST Authors
Kim, Jin-youngChoi, Hong Soo
Issue Date
2018-12
Citation
Micro and Nano Systems Letters, 6(1)
Type
Article
Article Type
Letter
Author Keywords
AngioplastyFlexible microrobot (robot)GuidewireMagnetic actuationPCI surgerySteerabilityTrackability
ISSN
2213-9621
Abstract
Here, we develop a flexible microrobot enhancing the steerability of a conventional guidewire. To improve steerability, a microrobot is attached to the tip of the guidewire and guided using an external magnetic field generated by an electromagnetic coil system. The flexible microrobot is fabricated via replica-molding and features a body made of polydimethylsiloxane (PDMS) and a single permanent magnet. As the robot is made of a deformable material, it can be steered using a low-intensity external magnetic field; the robot can potentially be guided into the coronary artery. To study steering performance, we employed mathematical modeling and a finite element model (FEM), and performed experiments under various magnetic fields. We found that a mathematical model using the Euler–Bernoulli beam could not precisely calculate the deformation angles. The FEM more accurately estimated those angles. The deformation angle can be controlled from 0 to 80° at a magnetic field intensity of 15 mT. The trackability at angles of 45 and 80° of the guidewire-based microrobot was confirmed in vitro using a two-dimensional blood vessel phantom. © 2018, The Author(s).
URI
http://hdl.handle.net/20.500.11750/9641
DOI
10.1186/s40486-018-0077-y
Publisher
Society of Micro and Nano Systems
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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