Fig. 5: Locomotion demonstrations and robot detection under medical imaging modalities.
From: Adaptive wireless millirobotic locomotion into distal vasculature
In all the demonstrations, the pulsatile flow rate into the inlet was 12 ml/min. a Locomotion in a tortuous route (phantom J). The radius of curvature Rc range is from 2.5 mm to 5 mm. b Locomotion in an extremely curved route where the inclination angle γi is 180°, and Rc is 1 mm (phantom K). c Locomotion among branches in 2D (phantom L). d and e Locomotion among 3D branches in a cranium simulant (phantom M). f Robot delivery using a medical catheter and locomotion in porcine arteries visualized by ultrasound imaging. At t = 1 min 10 s, the magnet was moved away, but the robot could withstand the flow safely. g Optimal X-ray imaging parameters for robot detection in PDMS phantoms with and without cranium simulant as the cover (all with contrast agent). h Optimal X-ray imaging parameters for robot detection in vessels with and without cranium simulant as the cover (all with contrast agent). All scale bars: 5 mm.
