Magnetic Helical Robot for Targeted Drug-Delivery in Tubular Environments
| Autor: | Wonseo Lee, Gunhee Jang, Jongyul Kim, Jaekwang Nam |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
010302 applied physics
Physics 0209 industrial biotechnology Magnetic moment Acoustics Nozzle Rotation around a fixed axis 02 engineering and technology 01 natural sciences Magnetic flux Computer Science Applications Magnetic field 020901 industrial engineering & automation Control and Systems Engineering Magnet 0103 physical sciences Robot Electrical and Electronic Engineering Frequency modulation Computer Science::Databases |
| Zdroj: | IEEE/ASME Transactions on Mechatronics. 22:2461-2468 |
| ISSN: | 1941-014X 1083-4435 |
| DOI: | 10.1109/tmech.2017.2761786 |
| Popis: | We propose a novel magnetic helical robot (HR) that can helically navigate, release a drug to a target area, and generate a mechanical drilling motion to unclog tubular structures of the human body. The proposed HR is composed of two rotating cylindrical magnets (RMs), four fixed cylindrical magnets (FMs), and a helical body. The RMs can be rotated in different directions under two orthogonal external rotating magnetic fields (ERMF). Utilizing these ERMFs, we can generate various motions. The ERMF along the axis of the RMs can generate the drug-release motion, while the ERMF orthogonal to the axis of the RMs can generate navigating and drilling motions. On the other hand, the magnetic torque and the attractive magnetic force between RMs and FMs tightly seal the nozzles in the drug chamber. We analyze these magnetic torque and force of the magnets for the navigating, drug-release, and drilling motion. Especially, the drug-release motion utilizes an eccentric rotational motion of the RMs due to the attractive and repulsive magnetic force between RMs and FMs. This motion squeezes and discharges the drug through a nozzle. We designed the mechanical structure of the proposed HR considering the magnetic properties to achieve the proposed functions. Finally, we prototyped the HR and conducted several experiments to verify the navigating, drug-delivery and drilling capabilities of the HR. We also confirmed that drug-enhanced drilling could unclog the clogged area more effectively than the simple drilling motion. |
| Databáze: | OpenAIRE |
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