Cha Kyoungrae, Jeong Semi, Choi Jongho, Qin Lulu, Li Jie, Park Jongoh, Park Sukho
Dept. of Mechanical Engineering, Chonnam University, Gwangju, 500-757, Korea.
Annu Int Conf IEEE Eng Med Biol Soc. 2010;2010:1962-5. doi: 10.1109/IEMBS.2010.5627599.
Heart diseases such as angina pectoris and myocardial infarction have been becoming the leading causes of death all over the world in recent years. The pharmacotherapy and the surgical operations have been executed for treating heart problems. The percutaneous coronary intervention (PCI) with catheter is frequently used for the treatment of coronary artery diseases, but the treatment of chronic total occlusion (CTO) is very difficult and challenging operation, since there is no efficient alternative therapy until now. For this reason, the microrobot to improve the intravascular treatment is one of the growing research areas. In this paper, various electromagnetic actuation (EMA) systems to supply driving power for the microrobot were proposed. The performance of the locomotion of microrobot in the 2D and 3D space were validated with in-vitro experiments and also the in-vivo tests were performed for demonstrating the movement of microrobot in the living rabbit.
近年来，诸如心绞痛和心肌梗死等心脏病已逐渐成为全球主要的死亡原因。人们已采用药物治疗和外科手术来治疗心脏问题。经导管的经皮冠状动脉介入治疗（PCI）常用于治疗冠状动脉疾病，但慢性完全闭塞（CTO）的治疗是一项非常困难且具有挑战性的手术，因为迄今为止尚无有效的替代疗法。因此，用于改善血管内治疗的微型机器人是一个不断发展的研究领域。本文提出了各种为微型机器人提供驱动动力的电磁驱动（EMA）系统。通过体外实验验证了微型机器人在二维和三维空间中的运动性能，并进行了体内测试以证明微型机器人在活兔体内的运动。
