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Multifunctional Robotic Guidewire System using Spiral-type Magnetic Microrobot with Magnetic Manipulation |
Journal of Magnetics, Volume 21, Number 4, 31 Dec 2016, Pages 616-621 |
Chang-Ho Yu (Department of Convergence Technology Engineering, Chonbuk National University), Sung Hoon Kim * (Department of Electronics Convergence Engineering, Wonkwang University) |
Abstract |
This paper presents a new multifunctional active guidewire system for medical applications that uses a magnetic microrobot. The study demonstrated that the proposed microrobot system could swim and be controlled under Low-Reynolds-number (Re) environments in blood vessel models. The prototype of the robotic guidewire, which is driven within a three-axis Helmholtz coil system, consists of a guide-wire, spiral blade, drilling tip, and permanent magnet. The spiral-type microrobot showed stable active locomotion between 3 kA/m and 9.1 kA/m under driving frequency up to 70 Hz in a silicone oil (of viscosity 1000 cst). The microrobot produced a maximum moving velocity of 8.08 × 10−3 m/s at 70 Hz and 9.1 kA/m. In particular, the robotic guidewire produced 3D locomotion with drilling in the three-axis Helmholtz coil system. We verified active locomotion, towing of guidewire, steering, and drilling of the proposed robotic guidewire system through experimental analyses.
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Keywords: robotic guidewire; magnetic navigation system; spiral-type magnetic microrobot; three-axis helmholtz coil |
DOI: https://doi.org/10.4283/JMAG.2016.21.4.616 |
Full Text: PDF |
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