Development of Magnetic robots and magnetic control method for tubular environments

Abstract

ABSTRACT

Development of magnetic robots and magnetic control method for tubular environments

Bongjun Jang Directed by Professor Gunhee Jang Department of Mechanical Convergence Engineering The Graduate School Hanyang University

Vascular diseases account for 21% of total mortality globally, and this figure is rapidly increasing due to lack of exercise, smoking, and imbalanced food habits. To treat vascular diseases, the wired catheter is used widely for numerous procedures, such as biopsies, object delivery, and drilling. The wireless microrobot is expected to increase the success of surgical procedures as an alternative to the conventional wired catheter. A magnetic robot with permanent magnets, controlled by external magnetic field, is a suitable model for microrobot development. Moreover, conventional rotating magnetic robots with helical blades are able to swim in fluidic environments. However, they require additional control to maintain position and stable movement in pulsatile environments such as blood vessels. In addition, since they are only suitable for piercing the thrombus, the thrombus should be analyzed by using a biopsy catheter. To redress these shortcomings, this thesis proposes two magnetic robots to replace conventional catheters.