Show simple item record

dc.contributor.author
Jeon, Sungwoong
dc.contributor.author
Hoshiar, Ali Kafash
dc.contributor.author
Kim, Sangwon
dc.contributor.author
Lee, Seungmin
dc.contributor.author
Kim, Eunhee
dc.contributor.author
Lee, Sunkey
dc.contributor.author
Kim, Kangho
dc.contributor.author
Lee, Jeonghun
dc.contributor.author
Kim, Jin-young
dc.contributor.author
Choi, Hongsoo
dc.date.accessioned
2019-03-11T16:00:50Z
dc.date.available
2019-03-11T11:38:23Z
dc.date.available
2019-03-11T16:00:50Z
dc.date.issued
2018-12-13
dc.identifier.other
10.1186/s40486-018-0077-y
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/330389
dc.identifier.doi
10.3929/ethz-b-000330389
dc.description.abstract
Here, we develop a flexible microrobot enhancing the steerability of a conventional guidewire. To improve steerability, a microrobot is attached to the tip of the guidewire and guided using an external magnetic field generated by an electromagnetic coil system. The flexible microrobot is fabricated via replica-molding and features a body made of polydimethylsiloxane (PDMS) and a single permanent magnet. As the robot is made of a deformable material, it can be steered using a low-intensity external magnetic field; the robot can potentially be guided into the coronary artery. To study steering performance, we employed mathematical modeling and a finite element model (FEM), and performed experiments under various magnetic fields. We found that a mathematical model using the Euler–Bernoulli beam could not precisely calculate the deformation angles. The FEM more accurately estimated those angles. The deformation angle can be controlled from 0 to 80° at a magnetic field intensity of 15 mT. The trackability at angles of 45 and 80° of the guidewire-based microrobot was confirmed in vitro using a two-dimensional blood vessel phantom.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
Springer
en_US
dc.rights.uri
http://creativecommons.org/licenses/by/4.0/
dc.subject
Flexible microrobot (robot)
en_US
dc.subject
Guidewire
en_US
dc.subject
PCI surgery
en_US
dc.subject
Steerability
en_US
dc.subject
Trackability
en_US
dc.subject
Magnetic actuation
en_US
dc.subject
Angioplasty
en_US
dc.title
Improving guidewire-mediated steerability of a magnetically actuated flexible microrobot
en_US
dc.type
Journal Article
dc.rights.license
Creative Commons Attribution 4.0 International
ethz.journal.title
Micro and Nano Systems Letters
ethz.journal.volume
6
en_US
ethz.pages.start
15
en_US
ethz.size
10 p.
en_US
ethz.version.deposit
publishedVersion
en_US
ethz.identifier.scopus
ethz.publication.place
Heidelberg
en_US
ethz.publication.status
published
en_US
ethz.date.deposited
2019-03-11T11:38:35Z
ethz.source
SCOPUS
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2019-03-11T16:00:58Z
ethz.rosetta.lastUpdated
2020-02-15T17:41:01Z
ethz.rosetta.versionExported
true
ethz.COinS
ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.atitle=Improving%20guidewire-mediated%20steerability%20of%20a%20magnetically%20actuated%20flexible%20microrobot&rft.jtitle=Micro%20and%20Nano%20Systems%20Letters&rft.date=2018-12-13&rft.volume=6&rft.spage=15&rft.au=Jeon,%20Sungwoong&Hoshiar,%20Ali%20Kafash&Kim,%20Sangwon&Lee,%20Seungmin&Kim,%20Eunhee&rft.genre=article&rft_id=info:doi/10.1186/s40486-018-0077-y&
 Search print copy at ETH Library

Files in this item

Thumbnail

Publication type

Show simple item record