Unclogging Motions of a Spiral Microrobot Acuated by Rotating Uniform Magnetic Field for Human Vessel Occlusive Diseases

摘要

This research proposes a spiral microrobot that can perform navigating and unclogging motions for human vessel occlusive diseases actuated by a magnetic control system. The proposed spiral microrobot was fabricated by 3D printing technology using ultraviolet curable biocompatible resin mixed with NdFeB particles. It can navigate through a rubber tubule and unclog blocks at target areas by an external uniform rotating magnetic field. We conduct various experiments to verify the validity of the proposed spiral microrobot as a driller to unclogging blocks. These experiments indicate its outstanding performance on navigating and unclogging motion.