The research question can be formulated as "How can untethered microrobots (UMRs) that are controlled by wireless magnetic fields
navigate complex vascular networks and effectively perform clot removal or disintegration in various clot compositions for endovascular therapy?" This is derived from a need for less invasive treatments for diseases such as thrombosis and embolism.
To achieve this, a screw-shaped helix with a magnetic core will be externally actuated by an RPM. The RPM will subject the UMR to a
magnetic field, yielding torque equal to the cross product of the magnetic moment of the UMR with the external magnetic field. Due to
the helical shape, the torque becomes a translational force. Adjusting the external magnetic field by adjusting the position and direction of
the RPM will allow the UMR to be controlled externally. Using this, the UMR can be steered toward a clot and can engage with it in some way (e.g., by chemical lysis or simple drilling).
In order to actually navigate the UMR when it is inside a body, one must be able to know its position relative to the vascular structure. To
achieve this, cone beam computed tomography (CBCT) will be used to "look" inside the body. The UMR is visible thanks to its magnetic
core. The RPM will be above the body, which is why the C-arm will be situated at an angle. This is to avoid the RPM blocking the view too
much.
