A Magnetically Controlled Soft Microrobot Steering a Guidewire in a Three-Dimensional Phantom Vascular Network.
A Magnetically Controlled Soft Microrobot Steering a Guidewire in a Three-Dimensional Phantom Vascular Network.
复制标题
DOI：
10.1089/soro.2018.0019
复制
发表时间：
2019-03
期刊：
影响因子：
7.9
通讯作者：
Choi H
中科院分区：
文献类型：
--
作者：
Jeon S;Hoshiar AK;Kim K;Lee S;Kim E;Lee S;Kim JY;Nelson BJ;Cha HJ;Yi BJ;Choi H
磁致动软机器人可以改善弥散性血管内凝血的治疗。操纵导管的软机器人系统的开发已经取得了重大进展。然而，一个更具挑战性的任务是开发在血管内治疗过程中引导亚毫米直径导丝的系统;需要一种新的微机器人方法来进行引导。在这篇文章中，我们开发了一种新的，磁驱动，软microrobotic系统，增加了传统的导丝的可操纵性。柔软的微型机器人连接到导丝的尖端，通过改变外部磁场的方向和强度来进行磁性操纵。微型机器人是通过复制成型制造的，具有由聚二甲基硅氧烷，两个永磁体和一个微型弹簧制成的柔软身体。我们开发了一个数学模型映射变形的软microrobot使用前馈转向的方法。然后，我们使用该模型操纵导丝。通过使用15 mT的磁场强度，微型机器人的角度可以控制在21.1°至132.7°。通过二维体外跟踪证实了可操纵性。最后，通过使用冠状动脉的三维（3D）体模来测试具有软微型机器人的导丝，以验证3D空间中的可操纵性。
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° to 132.7° 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.
登录
查看更多内容
影响因子：
4.6
作者：
Jeong, Semi;Choi, Hyunchul;Park, Sukho
通讯作者：
Park, Sukho
影响因子：
29.4
作者：
Kim, Sangwon;Qiu, Famin;Kim, Samhwan;Ghanbari, Ali;Moon, Cheil;Zhang, Li;Nelson, Bradley J.;Choi, Hongsoo
通讯作者：
Choi, Hongsoo
影响因子：
16.6
作者：
Balasubramanian, Shankar;Kagan, Daniel;Hu, Che-Ming Jack;Campuzano, Susana;Lobo-Castanon, M. Jesus;Lim, Nicole;Kang, Dae Y.;Zimmerman, Maria;Zhang, Liangfang;Wang, Joseph
通讯作者：
Wang, Joseph
影响因子：
4.6
作者：
Jiao J;Sun L;Guo Z;Hou S;Holyst R;Lu Y;Feng X
通讯作者：
Feng X
影响因子：
37.8
作者：
Benjamin, Emelia J.;Virani, Salim S.;Muntner, Paul
通讯作者：
Muntner, Paul