Post on 25-Jan-2021
transcript
Bioelectronics
Department of Electronics Convergence Engineering
Prof. Kim Sung Hoon
Bio-medical microrobot
Active catheter
Wireless cardiovascular
robots
Functional
wireless
endoscopic
robots
Practical applications in medicine
Robotic catheter
&
Stent
Wireless
cardiovascular
robots
Functional wireless
endoscopic robots
Active guide wire
H
S N
Gradient magnetic field - magnetic force control
H
Uniform magnetic field – magnetic torque control
Alternating Fields Rotating Fields
Micro-robots
- Drilling in blood vessels
- Targeted drug delivery
- Hyperthermia
- Marking & Sensing
- Targeted therapy
Robotic mechanisms for active locomotion
Mechanisms for vascular robots
2mm
0 0
0 0
0 0
)
cos cos sin cos sin cos
sin cos sin sin
sin cos cos sin
T m H=( x y z
x
y
z
T ,T ,T
T m Ht t
T t m H
t m HT
Biomimetic
approaches
Biomimetic mechanisms for
endoscopic robots
Diagnosis & Therapy
Camera module
Battery Drug chamber
MagnetsPrototype for the targeted drug release
Target point
80 Oe (6.366 kA/m)
4 Hz
Active locomotion
for endoscopic robot
Targeted drug delivery
and release
Functional
endoscopic robot
Soft-magnetic actuator in micro-robotics
High degree of freedom for shape
Multiple magnetization
High flexibility
Easy fabrication
Good magnetic features for a wireless manipulation
Complex shape indestructible Compatibility
Multiple magnetization High degree of freedom for shape
Applications
Active locomotion of conventional
capsule endoscope
Multi-link robot system
Gripper
Stent applications
robotic stent system
targeted drug delivery using magnetic particles
Mesh-type mechanism for robotic stent applications
Basic mechanism
Adhered magnetic particles
General method Self-adhered method
High degree of freedom for shape
Multiple magnetization
Functional
Magnetic robot
Hybrid actuator
mechanism
Preliminary
validationClinical Applications
Functional endoscope
Active guide wire
Drilling in blood vessel
Transportation
Active targeted drug delivery
Stent applications
Magnetic material
+
Smart material
Animal test
Biocompatibility
Smart mechanism
&
Structure
Present status
Substitution
Radiation exposure No radiation exposure
Magnetic sensing system
New navigation system
(robot, active catheter, stent)