Penetration into atherosclerotic plaque phantoms using helical robots

Abstract

Narrowing of arteries by atherosclerotic plaques can lead to serious ischemic vascular diseases. Conventional therapy for flow restoration inside blocked arteries depends on cardiac catheterization. This work presents a less invasive approach for intravascular therapy of atherosclerosis, by the penetration into plaque phantoms using an externally actuated magnetic helical robot. We prepare artificial plaque phantoms with increasing combined concentrations of gelatin, calcium carbonate or hydroxyapatite. Results show the successful penetration of the helical robot into the low gelatin concentration phantoms. The maximum average speed of the robot reached 4.7±0.45 mm/s inside a plaque phantom having 3% gelatin and 50% calcium carbonate.