Separable and Recombinable Magnetic Robot for Robotic Endovascular Intervention

摘要

This study presents a separable and recombinable magnetic robot (SRMR) to deliver and retrieve an untethered magnetic robot (UMR) to a target vascular lesion safely and effectively for robotic endovascular intervention. The SRMR comprises a delivery catheter and UMR connected to the end of the delivery catheter by a connecting section. An external magnetic field (EMF) interacts with the permanent magnet of the UMR; it can effectively generate magnetic torque and steer the delivery catheter to reach a target lesion. Furthermore, the rotating EMF allows the UMR of the SRMR to separate from the delivery catheter and perform the tunneling task. After completing the tunneling task, the UMR can be safely recombined with the delivery catheter in the vasculature via a simultaneous application of the EMF and suction force to the delivery catheter. The SRMR functions of steering, separation, movement, tunneling, drug delivery, and recombination are validated in a mimetic vascular model with a pseudo blood clot. Finally, the SRMR is successfully validated in an <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">in vivo</i> experiment of a mini pig's superficial femoral artery for contrast delivery, separation, movement, and recombination.