Journal of Magnetics

The Korean Magnetics Society (한국자기학회)
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Multifunctional Robotic Guidewire System using Spiral-type Magnetic Microrobot with Magnetic Manipulation

  • Yu, Chang-Ho (Department of Convergence Technology Engineering, Chonbuk National University) ;
  • Kim, Sung Hoon (Department of Electronics Convergence Engineering, Wonkwang University)
  • Received : 2016.11.21
  • Accepted : 2016.12.08
  • Published : 2016.12.31
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Abstract

This paper presents a new multifunctional active guidewire system for medical applications that uses a magnetic microrobot. The study demonstrated that the proposed microrobot system could swim and be controlled under Low-Reynolds-number (Re) environments in blood vessel models. The prototype of the robotic guidewire, which is driven within a three-axis Helmholtz coil system, consists of a guide-wire, spiral blade, drilling tip, and permanent magnet. The spiral-type microrobot showed stable active locomotion between 3 kA/m and 9.1 kA/m under driving frequency up to 70 Hz in a silicone oil (of viscosity 1000 cst). The microrobot produced a maximum moving velocity of $8.08{\times}10^{-3}m/s$ at 70 Hz and 9.1 kA/m. In particular, the robotic guidewire produced 3D locomotion with drilling in the three-axis Helmholtz coil system. We verified active locomotion, towing of guidewire, steering, and drilling of the proposed robotic guidewire system through experimental analyses.

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