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Micromachines 2018, 9(12), 617; https://doi.org/10.3390/mi9120617

Steering Algorithm for a Flexible Microrobot to Enhance Guidewire Control in a Coronary Angioplasty Application

1
DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea
2
Department of Robotics Engineering, DGIST, Daegu 42988, Korea
*
Author to whom correspondence should be addressed.
Received: 10 October 2018 / Revised: 9 November 2018 / Accepted: 20 November 2018 / Published: 23 November 2018
(This article belongs to the Section A:Physics)
Full-Text   |   PDF [1201 KB, uploaded 23 November 2018]   |  

Abstract

Magnetically driven microrobots have been widely studied for various biomedical applications in the past decade. An important application of these biomedical microrobots is heart disease treatment. In intravascular treatments, a particular challenge is the submillimeter-sized guidewire steering; this requires a new microrobotic approach. In this study, a flexible microrobot was fabricated by the replica molding method, which consists of three parts: (1) a flexible polydimethylsiloxane (PDMS) body, (2) two permanent magnets, and (3) a micro-spring connector. A mathematical model was developed to describe the relationship between the magnetic field and the deformation. A system identification approach and an algorithm were proposed for steering. The microrobot was fabricated, and the models for steering were experimentally validated under a magnetic field intensity of 15 mT. Limitations to control were identified, and the microrobot was steered in an arbitrary path using the proposed model. Furthermore, the flexible microrobot was steered using the guidewire within a three-dimensional (3D) transparent phantom of the right coronary artery filled with water, to show the potential application in a realistic environment. The flexible microrobot presented here showed promising results for enhancing guidewire steering in percutaneous coronary intervention (PCI). View Full-Text
Keywords: flexible microrobot; angioplasty; coronary artery disease; magnetic steering flexible microrobot; angioplasty; coronary artery disease; magnetic steering
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Kafash Hoshiar, A.; Jeon, S.; Kim, K.; Lee, S.; Kim, J.-Y.; Choi, H. Steering Algorithm for a Flexible Microrobot to Enhance Guidewire Control in a Coronary Angioplasty Application. Micromachines 2018, 9, 617.

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