Dual-body magnetic helical robot for drilling and cargo delivery in human blood vessels

Abstract

We propose a novel dual-body magnetic helical robot (DMHR) manipulated by a magnetic navigation system. The proposed DMHR can generate helical motions to navigate in human blood vessels and to drill blood clots by an external rotating magnetic field. It can also generate release motions which are relative rotational motions between dual-bodies to release the carrying cargos to a target region by controlling the magnitude of an external magnetic field. Constraint equations were derived to selectively manipulate helical and release motions by controlling external magnetic fields. The DMHR was prototyped and various experiments were conducted to demonstrate its motions and verify its manipulation methods.