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
- Author
- 이병주
- Keywords
- soft microrobot; guidewire; percutaneous coronary intervention (PCI); steerability; intravascular treatments; magnetic steering
- Issue Date
- 2018-10
- Publisher
- MARY ANN LIEBERT
- Citation
- SOFT ROBOTICS, v. 6, No. 1, Page. 54-68
- 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 degrees to 132.7 degrees 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.
- URI
- https://www.liebertpub.com/doi/full/10.1089/soro.2018.0019https://repository.hanyang.ac.kr/handle/20.500.11754/105751
- ISSN
- 2169-5172
- DOI
- 10.1089/soro.2018.0019
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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