TABLE I.
Specification of the actuation and localization system of the helical robot. M1,2 and ω are the magnetization and rotational frequency of the permanent magnets. m, D, and L are the magnetization, diameter, and length of the helical robot, respectively. f, TIS, and MI are the frequency of the ultrasound waves, thermal index, and mechanical index, respectively. μ, ρ, and v0 are the viscosity and density of the medium and the initial volume of the blood clot, respectively.
| Subsystem | Property | Value | Property | Value |
|---|---|---|---|---|
| Hall-effect | Sensitivity (mT) | 0.1 | Noise (mT) | 0.1 |
| sensor | Range (mT) | ±130 | Range (mm) | 5 |
| Rotating | Distance (mm) | 150 | ω (Hz) | 5 |
| dipoles | M1,2 (A m2) | 6.087 | Field (mT) | 20 |
| Helical | Type | NdFeB | D (mm) | 1 |
| robot | m (A m2) | 1.7 × 10–4 | L (mm) | 5 |
| Ultrasound | f (MHz) | 12 | TIS | 0.1 |
| system | MI | 0.9 | Gain | 49 |
| In vitro and | μ (cP) | 0.8882 | ρ (kg m–3) | 995 |
| ex vivo | v0 (mm3) | 94.24 | Flow (ml/h) | 10 |