文献类型：期刊文献

英文题名：Motion Control of Magnetic-Controlled Spiral Microrobots for In-vitro Plaque Removal

作者：Zhou, Xinzhao[1];Ma, Zhekai[2];Wang, Kemin[2];Zhang, Guanqing[1];Ren, Dongni[3];Zhang, Wenjun[4];Zhang, Bing[1];Yin, Ruixue[2]

机构：[1]Shanghai Univ, Sch Mechatron Engn & Automat, Intelligent Energy based Tumor Ablat Lab, Shanghai 200444, Peoples R China;[2]East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai 200237, Peoples R China;[3]Mingche Biotechnol Co Ltd, Suzhou 215000, Peoples R China;[4]Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK S7N 5A9, Canada

年份：2024

卷号：9

期号：6

起止页码：5671

外文期刊名：IEEE ROBOTICS AND AUTOMATION LETTERS

收录：;EI(收录号：20241815998370);WOS:【SCI-EXPANDED(收录号:WOS:001216335300003)】；

基金：No Statement Available

语种：英文

外文关键词：Magnetic fields; Spirals; Magnetic resonance imaging; Coils; Blood vessels; Permanent magnets; Magnetic forces; Micro/nano robots; additive manufacturing; medical robots and systems

摘要：Non-contact magnetic-controlled microrobots exhibit great potential in vascular intervention medicine due to their efficiency and safety. This letter introduces a novel helical magnetic microrobot designed and manufactured with integrated consideration for structural functionality and controllability. The microrobot is capable of autonomous rotational motion and effective grinding removal of simulated arterial plaque in-vitro. A magnetic control system employing three sets of orthogonally placed Helmholtz coils is presented, providing a uniform rotating magnetic field. To validate the proposed design, in-vitro experiments including linear velocity measurement, path control, and semi-occluded plaque grinding are conducted. An efficient closed-loop control strategy is proposed for semi-occluded plaque removal, allowing real-time adjustments of grinding mode, intensity, moving direction, and speed based on image feedback of the microrobot's position and plaque conditions, thus achieving efficient and precise plaque removal. Experimental data indicate that the microrobot can achieve a maximum travel speed of 15 mm/s and a semi-occluded plaque removal efficiency of 0.75 mm/min, demonstrating promising results in potential arterial plaque removal in vivo.