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首页> 外文会议>IEEE Magnetics Conference >A spiral microrobot performing linear and drilling motions by magnetic gradient and rotating uniform magnetic field to unclog blocked human blood vessels
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A spiral microrobot performing linear and drilling motions by magnetic gradient and rotating uniform magnetic field to unclog blocked human blood vessels

机译：螺旋微型机器人通过磁梯度执行线性和钻孔运动并旋转均匀磁场以疏通阻塞的人体血管

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More than one out of three American adults has one or more types of cardiovascular disease [1]. Occlusive coronary artery disease is one of the main heart diseases that results from plaque buildup in blood vessels, blocking the flow of blood. The most common treatment uses a tapered-tip guide-wire and catheter to unclog the blocked blood vessel, which is very hard to control through twisted and narrow blood vessels [2]. In this type of operation, cardiologists are constantly exposed to radiation from x-rays because they have to monitor the blocked blood vessels and the location of the guidewire and catheter, so they wear lead shielding around their bodies to protect themselves from radiation [3]. Microrobots that are controlled by magnetic fields generated from the Magnetic Navigation System (MNS) have been actively investigated to replace manually controlled conventional guidewires and catheters, eliminating cardiologists' exposure to radiation. One of the promising microrobots is a spiral microrobot actuated by a rotating magnetic field [4, 5, 6]. However, their spiral microrobots cannot separate navigating and drilling motions, and rotating blades may damage healthy blood vessels while navigating through the blood vessel to reach the target point.
机译：三分之一以上的美国成年人患有一种或多种类型的心血管疾病[1]。闭塞性冠状动脉疾病是由血管中的斑块积聚导致血液阻塞的主要心脏病之一。最常见的治疗方法是使用锥形尖端导丝和导管疏通阻塞的血管，这很难通过扭曲而狭窄的血管来控制[2]。在这种类型的手术中，心脏病专家会不断地受到X射线辐射的影响，因为他们必须监测被阻塞的血管以及导丝和导管的位置，因此他们在自己的身体周围佩戴铅屏蔽层以保护自己免受辐射的侵害[3] 。积极研究了由电磁导航系统（MNS）产生的磁场控制的微型机器人，以取代手动控制的常规导丝和导管，从而消除了心脏病专家对辐射的暴露。一种有前途的微型机器人是由旋转磁场驱动的螺旋微型机器人[4、5、6]。但是，它们的螺旋微型机器人无法将导航运动和钻探运动分开，并且旋转的刀片可能在导航通过血管到达目标点时损坏健康的血管。

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