Development of bi-plane X-ray imaging system for real-time position recognition of intravascular therapeutic microrobot using EMA system

At present, microrobots have been utilized as useful tools in diagnosis and treatment of various human diseases. As a new alternative for Chronic total occlusion (CTO), researchers are developing a intravascular therapeutic microrobot system by controlling the movement of the microrobot outside the patient´s body, and using an electromagnetic actuation (EMA) system to increase the accuracy of therapy. We proposed a new bi-plane x-ray imaging system for real-time position tracking of intravascular microrobot. This system are consisted three device, up to 110kVp, 10mA x-ray mono-block tube, 1.1kW x-ray generator and 24×30cm x-ray flat panel detector. Bi-plane X-ray imaging system resolution is 200um and fluoroscopic dose rate is 46mGy/min.