Position stabilization of microrobot using pressure signal in pulsating flow of blood vessel

摘要

The target of this paper is the pressure sensor based positioning control of the microrobot in a pulsating flow of blood vessel using an electromagnetic actuation (EMA) system. For treatment of these coronary arterial diseases, various type microrobots with a wireless locomotive actuating power using EMA were proposed. However, because the intravascular blood flows have pulsate fluctuating and high pressurized waves, it is estimated that the stable positioning control of the microrobot in the blood vessel was very difficult. In detail, the pulsating blood flow generates the pulse type drag force on the microrobot and the drag force makes the microrobot's oscillating motion in the blood vessel. For the accurate positioning control of the microrobot, the pulse type drag force on the microrobot should be compensated. Therefore, for the compensation of the drag force on the microrobot, the pressure transducer in the blood vessel was introduced and the pressure signal of the blood flow was used. Through the pressure sensor based compensation of the drag force, the stabilization of the position of the microrobot could be tested and evaluated.