Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 36, Issue 3, Pages 975-982Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2020.2988636
Keywords
Blood clot removal; helical swimmer; magnetic robot; three-dimensional (3-D) path following; thrombolytic robot
Categories
Funding
- National Science Foundation [IIS-1553063, IIS-1619278, CNS-1932572, CNS-1646566]
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This article presents a miniature magnetic swimmer and a control apparatus able to perform both 3-D path following and blood clot removal. The robots are 2.5 mm in diameter, 6 mm in length, contain an internal permanent magnet, and have cutting tips coated in diamond powder. The robots are magnetically propelled by an external magnetic system using three coil pairs arranged orthogonally. A range of robot tip designs were tested for abrading human blood clots in vitro. The best design removed a blood clot at a maximum rate of 20.13mm(3)/min. Acontroller for 3-D navigation is presented and tested. The best prototype was used in an experiment that combined both 3-D path following and blood clot removal.
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