The topic of this thesis is the use of an Untethered Magnetic Robot (UMR) for the treatment of the Thrombosis condition. Thrombosis, which is a blood clot forming inside of a vessel, is currently treated using two main methods. The first is catheter-based thrombolysis using a tethered flexible system through an opening in the body. However, in cases where thrombosis occurs in regions difficult to reach, such as small or tortuous vessels, this technique is not possible. The second technique is by administering thrombolytic agents intravascularly (IV). This technique is impartial to the size or reachability of the vessels, but since it is not administered locally on the blood clot, it could prove ineffective. The UMR solution solves these issues since it can be magnetically steered through any blood vessel, while having multiple ways to remove the thrombus - either guiding it out or diluting it with agents. This assignment will mainly focus on the increase of the propulsion force that the UMR can exert in a highly idealised environment (most likely not blood), as it is a key variable that influences potential treatment options and performance. The benefit of this assignment is that it will provide insight to future research, which can then be used to further optimise the design, or alter it for specific treatment interventions.
What improvements can be made to the design of the UMR in order to maximise its navigation capabilities through small and tortuous blood vessels? What could the correlation be between the rotational speed and the force it exerts on the fluid?
The goal of this research is to design and model a reconfigurable untethered magnetic robotic (UMR) assembly and validate its navigation capabilities. Specifically, the project aims to quantify the relationship between robot morphology and the resulting propulsion force, establishing a framework for achieving the thrust required for endovascular clot intervention.
We hypothesise that the UMR’s propulsion force scales with its rotational frequency up to a specific step-out limit. By optimising the robot’s geometry to improve its torque-to-volume ratio, it should be possible to increase this force threshold, making the assembly more effective at navigating against the blood flow.