University of Twente Student Theses


Bounded Propulsion of Helical Device with Near-Zero Angle of Attack

Ekkelkamp, Ilse (2023) Bounded Propulsion of Helical Device with Near-Zero Angle of Attack.

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Abstract:Untethered helical magnetic devices (UHMDs) seem promising in the world of minimally invasive medicine in hard-to-reach areas of the body. Moving the helical devices with a small angle of attack (AoA) could prove useful when the device swims in a lumen-like environment or environments with heterogeneous structural properties. Moreover, using open-loop control can prove useful when using imaging techniques with a low resolution to map the location and orientation of the device. It was shown which physical boundaries are needed to achieve bounded runs of the UHMD with a small AoA. When swimming with a small AoA, there is an equilibrium between the gravitational force and the magnetic pulling force, causing the UHMD to propel with active suspension. A numerical model based on resistive force theory (RFT) was used to predict the input values of the actuator and a reduced order model was used to predict the behaviour of the UHMD as a result of the rotation of the RPM, which were both validated experimentally. In the experiments, it was shown it is possible to create a bounded response of the UHMD by either gravity compensation or active suspension. Though one real bounded case was recorded with propulsion with a small AoA, the system is still lacking robustness due to factors like wobbling and drift.
Item Type:Essay (Bachelor)
Faculty:TNW: Science and Technology
Subject:44 medicine, 50 technical science in general
Programme:Biomedical Technology BSc (56226)
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