Gunhee JangDepartment of Mechanical Engineering
REPUBLIC OF KOREA
A robotically assisted magnetic navigation system and a separable and recombinable magnetic robot for robotic endovascular intervention
Robotic endovascular intervention has been actively studied to replace the incomplete conventional endovascular intervention performed by medical doctors. A robotic intervention system consists of a magnetic navigation system that generates an external magnetic field , a robotic feeding device that inserts surgical devices and performs treatment functions such as suction and drug delivery , and magnetic robots that includes magnetic catheter or magnetic guidewire. In this talk, I will introduce a robotically assisted magnetic navigation system and a control method that can improve the magnetic flux density and magnetic field gradient. I will also present a separable and recombinable magnetic robot (SRMR) to deliver and retrieve an untethered magnetic robot (UMR) to a target vascular lesion safely and effectively for robotic endovascular intervention. The SRMR functions of steering, separation, movement, tunneling, drug delivery, and recombination will be discussed in a mimetic vascular model with a pseudo blood clot. Finally, I will introduce an in vivo experiment of a mini pig’s superficial femoral artery for contrast delivery, separation, movement, and recombination.