Peripheral arterial diseases like thrombosis are dangerous for global health. Having blood clots in your blood vessels can lead to conditions like acute limb ischemia (ALI), where blood flow to a limb is suddenly decreased, which threatens its viability. There are already ways to treat these blood clots, all with their advantages and disadvantages. A new way to treat these blood clots is with untethered magnetic robots (UMRs). UMRs are already used for blood clot removal in ex vivo tissue environments. These UMRs are controlled by a robotic arm with a rotating permanent magnet (RPM) on it, which moves the UMR within the blood vessel by controlling a magnetic field. Now, a second motor is introduced. The goal of introducing the second motor is to cancel out the force perpendicular to the direction of motion and increase the magnetic torque acting on the UMR, making it spin and move faster within the blood vessel. To optimize the performance of the system with two motors, both the angle and angular velocity of the motors have to be synchronized.
The goal of this Bachelor Assignment is to design and implement a controller to synchronize two motors for controlling untethered magnetic robots in blood vessels. Both the angle and the velocity of the motors have to be synchronized. The motors should be able to change velocity and motion direction while still being synchronized. The performance of the system will be analyzed by using a straight tube with a UMR in it and varying the frequency of the motors while measuring the UMR velocity.
There are some optional goals that will be attempted to complete when the goals above are achieved. An optional goal is to try the system out on a blood clot in the test setup and compare the system with one motor and two motors. Secondly, the distance between the two motors can be varied to find a distance that ensures optimal UMR performance.