Effective locomotion and precise unclogging motion of an untethered flexible-legged magnetic robot for vascular diseases

Wonseo Lee, Jaekwang Nam, Jongyul Kim, Eunsoo Jung, Gunhee Jang

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

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.

Original languageEnglish
Article number2726973
Pages (from-to)1388-1397
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Volume65
Issue number2
DOIs
StatePublished - 2017 Jul 13

Fingerprint

Robots
Dynamic models
Magnetic fields
Fluidics
Propellers
Permanent magnets
Navigation
Blood
Experiments
Friction

Keywords

  • Flexible robot
  • Magnetic navigation system (MNS)
  • Magnetic robot
  • Medical robot
  • Vascular disease

Cite this

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Effective locomotion and precise unclogging motion of an untethered flexible-legged magnetic robot for vascular diseases. / Lee, Wonseo; Nam, Jaekwang; Kim, Jongyul; Jung, Eunsoo; Jang, Gunhee.

In: IEEE Transactions on Industrial Electronics, Vol. 65, No. 2, 2726973, 13.07.2017, p. 1388-1397.

Research output: Contribution to journalArticle

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