抄録
Medical microrobots have been studied worldwide for the use in minimally invasive robotic therapy. In particular, the control of microrobot in a blood vessel is challenging as it requires detailed analysis of forces working on the microrobot. In this paper, we propose a cerebral aneurysm treatment method using a tethered microrobot controlled by the electromagnetic field. The microrobot is moved to select a path at a branch in the cerebral vascular network to drag the catheter tip to a target located deep in the brain. Forces working on the microrobot in a blood vessel were analyzed, and the electromagnetic control and the size of microrobot were investigated to move the microrobot in or against the blood flow direction.
