University of Twente Student Theses
Motion Control of a Helical Unthetered Magnetic Robot with a Rotating Permanent Magnet for Minimally Invasive Navigation of Complex Vascular Structures
Akca, Pelin (2025) Motion Control of a Helical Unthetered Magnetic Robot with a Rotating Permanent Magnet for Minimally Invasive Navigation of Complex Vascular Structures.
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| Abstract: | Advancements in minimally invasive surgical micro robots have provided opportunities to explore com plex vascular structures within the cerebral vascula ture. Examples of multiple trajectories will be demon strated during this study. The pathway beginning from the Common Carotid Artery towards the Inter nal Carotid Artery or External Carotid Artery will be explored using a helically shaped Untethered Magnetic Robot (UMR). Additionally, the pathway to reach an aneurysm within the phantom will be explored, and a procedure to navigate multiple UMRs to this location to induce coagulation will be explained. The motion control of this helical UMR will be achieved through the use of a Rotating Permanent Magnet, which gen erates a magnetic field to guide the microrobot. The challenge is to guide the microrobot through a tortuous environment with varying narrow diameters. It is ben eficial to know the frequency range in which the UMR reaches a controlled maximum propulsion speed. The frequency of the permanent magnet directly influences the performance of the UMR, providing knowledge on the velocities the UMR can reach. The trials were suc cessful, since the UMRs we able to navigate through the trajectories and back when needed. These findings will result in a better understanding of motion con trol in complex vascular environments and therefore en hance insights into minimally invasive procedures with reduced recovery time and patient trauma. A next step would suggest to explore the cerebral vasculature fur ther, as this UMR has the potential to navigate the entire system. |
| Item Type: | Essay (Bachelor) |
| Faculty: | TNW: Science and Technology |
| Subject: | 44 medicine |
| Programme: | Biomedical Technology BSc (56226) |
| Link to this item: | https://purl.utwente.nl/essays/105223 |
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