Medically Applicable Electromagnetic Microrobot Manipulation System with Air and Metal-Cored Coils for Real‐Time Vascular Interventions

목차 (Table of Contents)

• LIST OF CONTENTS
• ABSTRACT i
• LIST OF CONTENTS iv
• LIST OF TABLES vii
• LIST OF FIGURES vii
• 1. Introduction 1
• 1.1 Background 1
• 1.2 Objectives of research 12
• 1.3 Current calculations 15
• 2. Electromagnetic Manipulation System for Semi-Autonomous Control of Small-Scale Magnetic Objects with Sequential Programming 18
• 2.1 Introduction 18
• 2.2 System Implementation 20
• 2.2.A Electromagnets 22
• 2.2.B Electronics control box (ECB) 25
• 2.2.C Graphical user interface (GUI) 29
• 2.2.D Imaging tools 32
• 2.3 Magnetic field measurements 32
• 2.4 Experimental results 36
• 2.4.1 Magnetic guidewire 36
• 2.4.2 Micromagnet and Nanoparticle manipulation using sequential programming. 40
• 2.4.2.A Micromagnet manipulation in open 3D space 40
• 2.4.2.B Micromagnet manipulation inside of a 3D channel with a predefined pattern of “DGIST” 43
• 2.4.2.C Micromagnet manipulation inside of an Aorta phantom 45
• 2.4.2.D Nanoparticle manipulation in open space 46
• 2.5 Conclusion 48
• 3. Magnetic Field Control using an Electromagnetic Actuation System with Combined Air-core and Metal-core Coils.. 50
• 3.1 Introduction 50
• 3.2 System Implementation 52
• 3.2.A Electromagnets configuration 54
• 3.2.B ECB 58
• 3.2.C GUI 60
• 3.2.D Joysticks 61
• 3.2.E Optical cameras 61
• 3.3 Magnetic field measurements 61
• 3.4 Experimental results 66
• 3.4.1 Magnetic guidewire 66
• 3.4.2 Semi-autonomous manipulation 68
• 3.4.3 Joystick manipulation 69
• 3.4.4 Micromagnet manipulation inside neurovascular phantom 72
• 3.4.5 Magnetic nanoparticles manipulation 75
• 3.4.6 Cell-based microrobots 81
• 3.5 Conclusion 85
• 4.Enhanced Electromagnetic Manipulation System with Integrating Air and Metal-Cored Coils for Minimally Invasive Vascular Procedures 87
• 4.1 Introduction 88
• 4.2 System Implementation 90
• 4.2.A. Electromagnets 91
• 4.2.B. ECB 96
• 4.2.C. GUI 98
• 4.3 Magnetic field measurements 99
• 4.4 Experimental results 104
• 4.4.1 Magnetic guidewire steering angle 104
• 4.4.2 In vitro evaluation in 3D vascular human-scale phantom 106
• 4.4.2.A In vitro evaluation in Coronary Artery 107
• 4.4.2.B In vitro evaluation in Cranial Artery 107
• 4.4.3 In vivo demonstration of targeted vascular interventions 108
• 4.4.3.A Coronary artery 110
• 4.4.3.B Cranial artery 113
• 4.5 Conclusion 115
• 5. Conclusions and Future work 116
• 5.1 Conclusions 116
• 5.2 Future work 119
• ACKNOWLEDGMENT 121
• PUBLICATION LIST 122
• REFERENCE 124
• 요 약 문 131