Dual-body magnetic helical robot for drilling and cargo delivery in human blood vessels
Dual-body magnetic helical robot for drilling and cargo delivery in human blood vessels
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DOI：
10.1063/1.4917067
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发表时间：
2015-05-07
影响因子：
3.2
通讯作者：
Jang, Gunhee
中科院分区：
文献类型：
--
作者：
Lee, Wonseo;Jeon, Seungmun;Jang, Gunhee
我们提出了一种由磁导航系统操纵的新型双体磁螺旋机器人（DMHR）。所提出的 DMHR 可以产生螺旋运动，在人体血管中导航并通过外部旋转磁场钻出血栓。它还可以通过控制外部磁场的大小产生释放运动，即双体之间的相对旋转运动，将承载的货物释放到目标区域。导出约束方程，通过控制外部磁场来选择性地操纵螺旋和释放运动。 DMHR 被制作成原型并进行了各种实验来演示其运动并验证其操作方法。 (C) 2015 AIP 出版有限责任公司。
We propose a novel dual-body magnetic helical robot (DMHR) manipulated by a magnetic navigation system. The proposed DMHR can generate helical motions to navigate in human blood vessels and to drill blood clots by an external rotating magnetic field. It can also generate release motions which are relative rotational motions between dual-bodies to release the carrying cargos to a target region by controlling the magnitude of an external magnetic field. Constraint equations were derived to selectively manipulate helical and release motions by controlling external magnetic fields. The DMHR was prototyped and various experiments were conducted to demonstrate its motions and verify its manipulation methods. (C) 2015 AIP Publishing LLC.