3D Navigation of Miniature Magnetic Rotating Swimmers Using 2D Ultrasonography

A pulmonary embolism is a blood clot that develops in a blood vessel (often in the leg) and then travels to a lung artery, where it suddenly blocks blood flow. A miniature magnetic rotating swimmer (MMRS) is a device with internal magnets and propeller fins. It can be steered by an external rotating magnetic field. The shape of the swimmer combined with the rotational movement can generate a propulsive force to move the swimmer to the target location, abrading blood clots using the rotational motion. This chapter presents the MMRS’s design and fabrication, thrombi disruption performance, and 3D path-following capability. Algorithms that enable controlling a swimmer in 3D using a 2D ultrasonography device are presented. A tool that can deliver and retrieve the MMRS for thrombi disruption is demonstrated.