Effective Locomotion and Precise Unclogging Motion of an Untethered Flexible-Legged Magnetic Robot for Vascular Diseases

• Published in: IEEE transactions on industrial electronics (1982) Vol. 65; no. 2; pp. 1388 - 1397
• Main Authors: Lee, Wonseo, Nam, Jaekwang, Kim, Jongyul, Jung, Eunsoo, Jang, Gunhee
• Format: Journal Article
• Language: English
• Published: New York IEEE 01-02-2018; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Axial forces; Blood vessels; Coils; Dynamic models; Flexible robot; Force; Legged locomotion; Legs; Locomotion; Magnetic fields; magnetic navigation system (MNS); Magnetic resonance imaging; magnetic robot; medical robot; Permanent magnets; Robot dynamics; Robots; Rotation; vascular disease
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2017.2726973

We propose an untethered flexible-legged magnetic robot (FLMR) manipulated by an external rotating magnetic field (ERMF) to generate effective locomotion and precise unclogging motion to treat vascular diseases. The proposed FLMR is composed of a front body with a drill tip, a cylindrical permanent magnet, a rear body, and flexible legs. The flexible legs are obliquely attached to the bodies like blades of a propeller, so that the FLMR can generate propulsive force in a fluidic environment for locomotion and unclogging motions. To provide manipulation guidelines for locomotion and unclogging motions, we developed a dynamic model of propulsive force, axial force, and friction force, and we established a control method of propulsive force according to the rotating frequency of the ERMF and the diameter of the tube, based on the proposed dynamic model. Finally, we prototyped the FLMR and conducted several experiments to verify its navigation performances and the control method of the propulsive force. Also, we conducted an in vitro experiment with a pseudo blood clot to demonstrate the validity of the locomotion and unclogging motions of the FLMR.