Characterization of Helical Propulsion Inside In Vitro and Ex Vivo Models of a Rabbit Aorta

Abstract

In this work, the propulsion of a helical robot is experimentally characterized inside whole blood (in vitro model) and against the flowing streams of phosphate buffered saline (PBS) inside rabbit aorta (ex vivo model). The helical robot is magnetically actuated inside these models under the influence of rotating magnetic fields. The frequency response of the helical robot is characterized. Averaged speed is measured at actuation frequency of 8 Hz as 11.3 ± 0.52 (n = 5) and 7.45 ± 1.2 mm/s (n = 3) inside rabbit aorta and whole blood, respectively. The Speed of the robot inside rabbit aorta is characterized against flowing streams of PBS at flow rate of 90 ml/hr.