Improving guidewire-mediated steerability of a magnetically actuated flexible microrobot View Full Text


Ontology type: schema:ScholarlyArticle      Open Access: True


Article Info

DATE

2018-12

AUTHORS

Sungwoong Jeon, Ali Kafash Hoshiar, Sangwon Kim, Seungmin Lee, Eunhee Kim, Sunkey Lee, Kangho Kim, Jeonghun Lee, Jin-young Kim, Hongsoo Choi

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. More... »

PAGES

15

Identifiers

URI

http://scigraph.springernature.com/pub.10.1186/s40486-018-0077-y

DOI

http://dx.doi.org/10.1186/s40486-018-0077-y

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1110592143


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