intravascular therapeutic microrobot for chronic total … · · 2011-06-23intravascular...
TRANSCRIPT
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Mar. 7. 2011
Jong-Oh Park, Dr.-Ing. Robot Research Initiative
Chonnam National University [email protected]
2011 Medical Micro Robot Workshop
Intravascular Therapeutic Microrobot for Chronic Total Occlusion in Coronary Artery
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microrobot.re.kr
Outline
In-Vivo Test in a Living Animal
Thrombus and CTO Therapeutics
Microrobot Locomotion
1
2
4
3
Imaging System
Micro Actuation
5
6
Future Work 7
Project Description
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microrobot.re.kr
Intravascular Therapeutic Microrobot
Drug Delivery and Therapy of Coronary Artery
Disease Using Microrobot
Spec. D 1mm, L 10mm, Feed 50mm/min
Function Recognition, Locomotion, Therapy, Clinical Validation
Disease Chronic Total Occlusion, Thrombus, etc
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microrobot.re.kr
Intravascular Microrobot System
Electromagnetic Navigation System
CT & X-ray Imaging System Microrobot Controller
H/W Platform S/W Platform
3D Vessel Reconstruction
Image Fusion(Registration)
Diagnosis
Microrobot Navigation
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microrobot.re.kr
Main Research Fields
Imaging system & navigation S/W
3D Locomotion and control of robot
Medical treatment
Clinical validation
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microrobot.re.kr
In-vivo test in a living animal(Minipig)
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microrobot.re.kr
Microrobot Position Control & Tracking
Target region : Iliac artery
Contents :
1. Microrobot Control in pulsating blood flow
2. 3D Position Tracking using registration method
between CTA image(pre-op) & X-ray image(intra-op)
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microrobot.re.kr
Clot Destruction by Microrobot
Target region : Iliac artery phantom
Contents : 1. Destruction of pseudo CTO Material (Agar 0.3%) 2. 3D Position tracking using registration method between CTA image(pre-op) and CCD image
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microrobot.re.kr
Microrobot Locomotion
1D 2D
3D
Drilling & Locomotion
Magnetic Navigation System
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microrobot.re.kr
Microrobot Locomotion
Helmholtz & Maxwell Coil
• Helmholtz coil : Uniform Magnetic Field => To align microrobot
• Maxwell coil : Uniform Gradient Magnetic Field => To propel Microrobot
schematic of Helmholtz and Maxwell coil
rd
r
rd 3
2
3 3
2 22 2
1 1
2
2 2
i n rH
d dr z r z
2
3 3
2 22 2
1 1
2
2 2
i n rH
d dr z r z
Magnetic Field by Helmholtz coil
Magnetic Field by Maxwell coil
ROI
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microrobot.re.kr
2Pair Stationary Coil System (Smart Material and Structure, 2009)
• Helmholtz and Maxwell coil pairs in X & Y axis
• 2D planar Motion
Microrobot Locomotion
2D Magnetic Navigation System I
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microrobot.re.kr
2Pair Stationary Coil System (Smart Material and Structure, 2009)
• Helmholtz coil in X & Y axis and Maxwell coil in Z axis
• 2D planar motion
• Smaller power consumption than the previous system
Microrobot Locomotion
2D Magnetic Navigation System II
Hz_y
Hz_x
Mx_z
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microrobot.re.kr
3D Motion by Rotation of Coil System (2009 IROS Conf.)
• 1D locomotion mechanism by Helmholtz and Maxwell coil is
expanded to 3D spatial motion by using 3 rotational axis.
Microrobot Locomotion
3D Magnetic Navigation System I
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microrobot.re.kr
Novel EMA Method for 3D Motion (Sensor and Actuator, 2010)
• 1 pair of stationary Hz, Mx and 1 pair of Rotational Hz, and Mx.
• 3D motion by rotating Hz and Mx coil pairs
Microrobot Locomotion
3D Magnetic Navigation System II
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microrobot.re.kr
Saddle Coil System (Sensor and Actuator, 2010)
• 1 pair of stationary Hz and Mx coil
• 1 pair of Rotational Uniform and Gradient saddle coil
• 3D motion by rotating saddle coil pairs
Microrobot Locomotion
3D Magnetic Navigation System III
Schematic of Proposed EMA System
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microrobot.re.kr
Experimental Results
Microrobot Locomotion
3D Magnetic Navigation System III
<1 sec> <8 sec>
<16 sec>
Locomotion in the Blood Vessel
Phantom
Locomotion in Cube with
Gravity Compensation
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microrobot.re.kr
Object : Prediction of intravascular environment and precise
dynamic modeling of microrobot
Analysis of Blood Flow for Modeled Vessel
• Analysis of blood flow for each geometrical shapes
0
1
2
3
4
5
6
7
30deg
45deg
60deg
90deg
30deg
45deg
60deg
90deg
30deg
45deg
60deg
90deg
30deg
45deg
60deg
90deg
point 1 point 2 point 3 point 4
Wall Pressure[Pa]
Microrobot Locomotion
Blood Flow Modeling I
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microrobot.re.kr
Analysis of Blood Flow in Actual Blood Vessel Model
• Vessel modeling with CT Data
• Analysis of blood flow in blood vessel
<Wall Sheer Stress>
Microrobot Locomotion
Blood Flow Modeling II
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microrobot.re.kr
Analysis of Pulsating Blood Flow
• Lattice Boltzmann Method
• Pulsatile flow analysis
• Drag force analysis for the circular and rectangular shape
Microrobot Locomotion
Blood Flow Modeling III
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microrobot.re.kr
Blood Vascular Simulator
Microrobot Locomotion
• Pulsating flow generation
• Arch to iliac and coronary artery
• Systole/diastole ratio control
• Heart rate control
• Blood pressure sensing
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microrobot.re.kr
Overall Control System of Microrobot
Microrobot Locomotion
Power Supply
PXI Controller
Coil System
• Power Supply : 4(MX15pi, 3001i, and Agilent 6675)
• Controller : NI PXI System
• Position Recognition : CCD Imager
• Control S/W : Programed by LabVIEW
Imaging System
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microrobot.re.kr
Control Algorithm
Microrobot Locomotion
• Uniform propulsive force by constant DC current input
• Drag force compensation using pressure signal of pulsating flow
• Feedback position control using position of microrobot
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microrobot.re.kr
• The drag force of the microrobot in the fluid is expressed as,
• The blood flow has a same period as the pressure and the similar
waveform in aorta from canine and human
• Drag force compensation algorithm
Drag Force Compensation Algorithm
Microrobot Locomotion
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microrobot.re.kr
Control Performance in In-vitro Condition
Microrobot Locomotion
Drag force compensation
Feedback control
DC current input
Fluctuation range 1, 19.9mm , 2. 4.6mm, 3. 1.5mm
1
2
3
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microrobot.re.kr
Control Performance in In-vivo Condition
Microrobot Locomotion
• Drag force compensation using blood pressure transducer
• Feedfoward control and phase-shifting method
DC Continuous input Fluctuation : 51.4mm
Drag force compensation & Phase shifting method Fluctuation : 16.3mm
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microrobot.re.kr
MRI based Gradient MNS
Maxwell Coil
Golay Coil
MRI Gradient MNS
Microrobot Locomotion
Advantages - Imaging & locomotion in One system Disadvantages - Unable to perform Rotational Motion of microrobot
Slow Z-X motion
Rapid Z-X motion
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microrobot.re.kr
Locomotion test in MRI Imaging System
Phantom Image
Robot Position Data
Locomotion and Imaging
Microrobot Locomotion
Microrobot
Microrobot
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microrobot.re.kr
Thrombus & CTO Therapeutics
Drilling for CTO & Thrombus
Centering in Blood Vessel
Debris Collecting
Drug Delivery
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microrobot.re.kr
CTO/Thrombus
Drilling System
( URAI, 2009)
• 3 pair of Rectangular
Helmholtz coil
• Drilling and
locomotion by
rotating magnetic
fields
2D Magnetic CTO Drilling I
Thrombus & CTO Therapeutics
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microrobot.re.kr
Rectangular Helmholtz coil
,
d
a
i
zDistance to generate Uniform Magnetic Field
Schematic of Helmholtz coil Magnetic Field by Rectangular Hz.
})2/dz(a2)2/dz(a[
1
2222
2222
2
h
)2/dz(a2)2/dz(a[
1{
aI2H
i
2D Magnetic CTO Drilling I
Thrombus & CTO Therapeutics
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microrobot.re.kr
Rotational Magnetic Field
,
α β t)})sin(
2{sin(I (t)I
t)})cos(2
)cos(sin( t))sin(2
{sin(I (t)I
t)})cos(2
)cos(cos( t))sin(2
{cos(I (t)I
z m,z
ny m,y
xm,x
sin
cos
2D Magnetic CTO Drilling I
Thrombus & CTO Therapeutics
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microrobot.re.kr
Micro robot motion : Conchoids outer shell & Magnet
D 2.5mm L 12 mm
,
Rotational magnetic
field
magnet
Magnetization direction
2D Magnetic CTO Drilling I
Thrombus & CTO Therapeutics
+
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microrobot.re.kr
2D Enhanced Drilling System (submitted in Sensor and Actuator, 2011)
• 3 pair of stationary Hz coil & 1 pair of Maxwell Coil along X axis
• Maxwell Coil to increase the propelling force to drilling direction
Thrombus & CTO Therapeutics
2D Magnetic CTO Drilling II
I : Current value
m : Magnitude of current
ω : Angular velocity
θ : Magnetization Direction
α : Desired locomotion direction
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microrobot.re.kr
Magnetization Direction(θ)
θ=90º θ=0º θ=45º
[Magnetization direction of the microrobot]
★ Microrobot included two magnets with different magnetization!
Configuration of EMA system and Microrobot
2D Magnetic CTO Drilling II
Thrombus & CTO Therapeutics
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microrobot.re.kr
Steering Enhanced
Microrobot Locomotion Drilling
θ=45º, α=0º θ=45º, α=30º
Desired direction(α)
Rotationg Precessional Magnetic Field
2D Magnetic CTO Drilling II
Thrombus & CTO Therapeutics
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microrobot.re.kr
- Rapid prototype (RP)
- Empty inner space for
the insertion of the
two permanent
magnets
- Diameter : 2.7mm
- Spiral height : 0.7mm
- Total length : 20mm
Thrombus & CTO Therapeutics
2D Magnetic CTO Drilling II
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microrobot.re.kr
Start
Target
Microrobot
* 2D Locomotion and Drilling Test
Thrombus & CTO Therapeutics
2D Magnetic CTO Drilling II
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microrobot.re.kr
3D Locomotion and Drilling System(Sensor and Actuator, 2010)
• 3 pair of stationary Hz coil
• 1 pair of stationary Mx. and 1 pair rotatinal gradient saddle coil
3D Locomotion and Drilling System
Thrombus & CTO Therapeutics
Fabricated MNS
Microrobot Schematics of MNS
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microrobot.re.kr
Experimental Results
3D Locomotion and Drilling System
Thrombus & CTO Therapeutics
Agar Drilling
Cap Grinding Calcium carbonate CaCo3
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microrobot.re.kr
Magnetic CTO Tunneling Device
Coil gun Type CTO Tunneling Mechanism
EMA
Input Signal
- Motion : Impact Hammering motion (Initial path)
+ Twisting Motion (Widening path)
- Input : Modulated Rectangular Wave (Impact motion)
+ Sine wave (Twisting motion)
Motion
Thrombus & CTO Therapeutics
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microrobot.re.kr
CTO Tunneling Test
-Robot : Cylinder & Bullet type 1mm(D)X5mm(L), 2mm(D)X5mm(L)
-CTO model : 1% Agar & CaCo3 based CTO Cap
-Results : Pathway in 210sec, Cap Destruction around 170sec
Agar
Microrobot
Glycerin
-41-
Thrombus & CTO Therapeutics
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microrobot.re.kr
Ultrasonic Wave Propagation Analysis
-Horn Shape : Half-circle(D=20cm), Parabolic(D=10cm),
Gaussian(D=4cm, 200kHz) Horn
-Frequency : 20kHz
Horn Freq. Concentration
Point
Half Circle D=20cm
20kHz 10cm
from Horn
Parabolic D=10Cm
20kHz 4cm
Gaussian D=4cm
200kHz 4cm
Thrombus & CTO Therapeutics
Ultrasonic CTO Tunneling Device
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microrobot.re.kr
Actuating Pressure Analysis on Target Region in Fluid (2D/3D)
-Actuating Frequency : 20kHz
-Media Fluid: Water(Blood)
-Actuating Pressure : 7M Pa
Ultrasonic Horn Design
-Frequency : 20kHz, Material : Duralumin 7079
-Transducer type : BLT(Bolted Langevin type Transducer)
Quarter l
Thrombus & CTO Therapeutics
Ultrasonic CTO Tunneling Device
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microrobot.re.kr
Wired Solutions
• Wired Microrobot for CTO Treatment
• Function : Centering/Steering/Drilling
• Diameter : <3mm, Length >900mm
• Disease oriented Tool Module
Thrombus & CTO Therapeutics
Flexible Probe
Driving & Control Unit
Probe Tip with 1-1.5mm D
Probe Tip with 1.7-2.5mm D
Flexible Joint
Drill Tip
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microrobot.re.kr
Drilling Tool
Thrombus & CTO Therapeutics
• Four types of tool pattern
• Tool Diameter : 2mm, Revolution speed : 30,000rpm
• Material : HA/PLA composite (CTO model)
• Cutting Force Measurement with Low/High pass filtering
Tool Pattern I Tool Pattern II
Tool Pattern IV Tool Pattern III
0.5 mmX
Y
Z
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microrobot.re.kr
Porous Hydroxyapatite(Pseudo CTO Model)
Thrombus & CTO Therapeutics
Chemical Components Percent (%)
Delipidized arterial tissue 34
Free cholesterol 2
Cholesterol esters 10
Triglycerides & phospholipids 0
Calcium salts (Hydroxyapatite) 54
Calcified Deposit
(mostly hydroxyapatite)
Intimal Plaque
(cholesterol, lipids)
Calcified Deposit
(mostly hydroxyapatite)
Intimal Plaque
(cholesterol, lipids)
[Romer et al., Circulation, 1998]
Material Modulus
(GPa)
Hardness
(MPa)
Vertebral trabeculae* 13.4±2.0 468±79
Porous hydroxyapatite 10.6±0.8 219±28
[* Rho et al., Biomaterials, 1997]
Mechanical properties of Vertebral trabeculae & Porous
hydroxyapatite by nanoindentation 25mm
9.7
mm
• CTO Property
• Porous hydroxyapatite - Pseudo CTO Material with similar mechanical property for drilling test
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microrobot.re.kr
Animal CTO Model induced by L-PLA
Thrombus & CTO Therapeutics
• Animal : Pig(Female, 25-30 Kg)
• Realization of similar condition of human CTO
• Ex-vivo test for microrobot function (will be used)
Baseline After embolization 4 weeks later
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microrobot.re.kr
Drug Delivery
Thrombus & CTO Therapeutics
• Steptokinase(SK) loaded Gelatin nano particle
: Resolution test for Thrombus
Nano Particle
Micro Particle - Optimized drug carrier for
thrombus - Micro particle : 1~3 μm - Nano particle : 200~300 nm
• Bio degradable Nano PLGA(Poly Lactic Glycolic Acid)
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microrobot.re.kr
3D Vascular Model using CTA/MRA Data
Imaging and Navigation System
• 3D image reconstruction from CT Image
• Segmentation for interesting region
• Reference model for intravascular navigation of microrobot
3D Image (Reconstruction)
3D Image (Segmentation Image)
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microrobot.re.kr
Diagnosis S/W
• Diagnosis using 2D/3D image data
• Definition of target destination of microrobot
• Simulation of microrobot moving to destination
Diagnosis & Moving Path Simulation of microrobot
Moving 3D CT Images
Imaging and Navigation System
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3D Position Recognition of Microrobot
Image Registration
Fiducial Marker
Robot Tracking
Mapping
Imaging and Navigation System
• Real-time 3D position recognition of microrobot in living body
• Registration of intra-op(X-ray) images to pre-op(CT/MRA) images
• Gold fiducial markers was inserted to subcutaneous tissue for
registration
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microrobot.re.kr
3D Position Recognition of Microrobot
• Real-time 3D position recognition & monitoring of microrobot
Imaging and Navigation System
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microrobot.re.kr
Micro Actuation
Ferropaper
• Paper(fiber array) based Actuator
• Driven by Electromagnetic field
• Direction Control by soft magnetic property
• Pros : Small, Light, and Rapid Response, easy fabrication
• Cons : Small actuation force, depend on EM field
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Jellyfish Robot
Micro Actuation
1. Current input 2. Magnetic Field 3. Alignment 4. Torque generation 5. Propulsion
Mechanism • Aquatic microrobot with jelly fish
like motion
• Driven by alternating
electromagnetic field generated
from 3 Hz coils
• PDMS body fabricated by casting
method
Bending Analysis Fabricated robot
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Jellyfish Robot
Micro Actuation
3Axis Helmholtz Experiment in Water
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microrobot.re.kr
Swimming Microrobot
• Tadpole type swimming robot
• Driven by alternating magnetic fields generated by 2 pair Helmholtz coil
• Swimming speed and direction control by magnetic field modulation
Micro Actuation
Robot Structure
Motion Mechanism
Control System
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microrobot.re.kr
Future Work
Focus on CTO Therapeutics
Theoretical Analysis of Microrobot Movement in Pulsating Blood Flow
Integration of H/W Platform
Self-Locomotion of Microrobot
Gracie !