@inproceedings{2f5dd121e22b4faf99f4f17b605711be,
title = "Agile 3D-Navigation of a Helical Magnetic Swimmer",
abstract = "Rotating miniature magnetic swimmers are de-vices that could navigate within the bloodstream to access remote locations of the body and perform minimally invasive procedures. The rotational movement could be used, for example, to abrade a pulmonary embolus. Some regions, such as the heart, are challenging to navigate. Cardiac and respiratory motions of the heart combined with a fast and variable blood flow necessitate a highly agile swimmer. This swimmer should minimize contact with the walls of the blood vessels and the cardiac structures to mitigate the risk of complications. This paper presents experimental tests of a millimeter-scale magnetic helical swimmer navigating in a blood-mimicking solution and describes its turning capabilities. The step-out frequency and the position error were measured for different values of turn radius. The paper also introduces rapid movements that increase the swimmer's agility and demonstrates these experimentally on a complex 3D trajectory.",
author = "Julien Leclerc and Haoran Zhao and Bao, {Daniel Z.} and Becker, {Aaron T.} and Mohamad Ghosn and Shah, {Dipan J.}",
note = "Funding Information: *Work supported by NSF IIS-1553063, CNS-1646566, and CNS-1932572 *Dr. Shah receives salary support from the National Science Foundation (grants CNS-1646566 and CNS-1931884) and the National Institutes of Health (1R01HL137763-01) (1) Department of Electrical Engineering, University of Houston, 4800 Calhoun Rd, Houston, TX 77004, USA (2) Houston Methodist DeBakey Heart & Vascular Center, 6550 Fannin Street, Houston, TX 77030, USA Publisher Copyright: {\textcopyright} 2020 IEEE. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.; 2020 IEEE International Conference on Robotics and Automation, ICRA 2020 ; Conference date: 31-05-2020 Through 31-08-2020",
year = "2020",
month = may,
doi = "10.1109/ICRA40945.2020.9197323",
language = "English (US)",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "7638--7644",
booktitle = "2020 IEEE International Conference on Robotics and Automation, ICRA 2020",
address = "United States",
}