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Development and optimization of an electromagnetic system for endovascular surgery
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Guidewires and catheters are flexible instruments used during minimally invasive surgery to traverse
in vascular system and access a desired position. However, incorrect instrument selection and complex
anatomical structures often lead to increased risk of complications and extended operation times that
result in prolonged patient recovery.
The Flux One is a magnetic navigation system that addresses these challenges by using magnetic
fields and computed tomography imaging to precisely navigate minimally invasive surgical guidewires.
This system is anticipated to decrease the duration of surgical interventions in catheterization procedures
while enhancing precision compared to conventional manual techniques. Moreover, it enables surgeons
to reach branches of the cardiovascular system that are typically unreachable with standard minimally
invasive methods.
This dissertation focuses on exploiting the significant potential of magnetic actuation to maneuver
medical tools within the human body without direct contact, using an electromagnetic coil attached to a
robotic arm.
A critical challenge identified is the heat dissipation from the electromagnetic coil, which can affect
its integrity. Tests on the electromagnet prototype indicate that in the worst case, from a thermal perspec tive, at 14 A, it can operate for up to 3 minutes and 39 seconds under typical operating room conditions.
Simulation results suggest that stronger electromagnets will have similar operational duration’s with the
current cooling system on the Flux One.
Simulations show that increasing the size of the electromagnet from 8 kg up to 12 kg and 15 kg can
lead to improvements on the magnetic field strength by up to 86% and 127% respectively if the right
proportions for the electromagnet are selected and that it can be achieved without a significant increase
in thermal output.
Descrição
Tese de Mestrado, Engenharia Física, 2024, Universidade de Lisboa, Faculdade de Ciências
Palavras-chave
Robôs cirúrgico Análise de elementos finitos Cirurgia Minimamente Invasiva Fluxo Magnético Eletroíman Teses de mestrado - 2024