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전자기 구동 시스템을 이용한 마이크로로봇의 3차원 이동 및 드릴링
이걸(Jie Li),최현철(Hyunchul Choi),차경래(Kyoungrae Cha),정세미(Semi Jeong),박종오(Jongoh Park),박석호(Sukho Park) 대한기계학회 2011 大韓機械學會論文集A Vol.35 No.12
이 논문에서는 전자기구동시스템을 기반으로 이동 및 드릴링 기능을 수행하는 의료용 마이크로로봇 시스템을 제작하고 평가하였다. 마이크로로봇은 너무 작아 내부에 배터리나 제어장치를 삽입 할수없다. 이 결점을 극복하기 위하여 외부에서 전자기 코일 시스템을 이용하여 전자기장의 힘으로 마이크로로봇을 구동 시킨다. 전자기 구동 코일 시스템은 x, y, z 각축에 사각형 타입의 헬름홀쯔 코일 3 쌍과 z축에 솔레노이드형 맥스웰 코일 1 쌍이 배치 되어 있고, 각 코일에 인가되는 전류값의 조절에 따라 구동에 필요한 자기장을 발생 시킨다. 다양한 실험을 통하여 우리는 제안된 시스템을 이용하여 마이크로로봇이 3 차원 공간에서 이동 가능하며 드릴링 기능을 수행할 수 있다는 것을 보였다. In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in threedimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified.
EMA System을 이용한 마이크로로봇의 3차원 구동에 관한 연구
정세미(Semi Jeong),최현철(Hyunchul Choi),최종호(Jongho Choi),박석호(Sukho Park),박종오(Jongoh Park) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
For treatment of cardiovascular disease and drug delivery, the locomotion mechanisms of microrobot have been studied. However, by the restriction of integration of rnicrorobot such as actuation part, sensing module and treatment tool, the development of microrobot is very difficult. For solving this problem, we propose a new electromagnetic actuation (EMA) system which can produce external actuation force by electromagnet field. In 3 dimensional (D) spaces, the EMA system is able to align microrobot to the desired direction and propels microrobot to the aligned direction. The proposed EMA system consists of a stationary Helmholtz-Maxwell coils pairs and a rotational Helmholtz-Maxwell coils pairs. For 3D locomotion of microrobot, two Helmholtz coils pair can magnetize and align the microrobot to desired direction and two Maxwell coils pair can produce propulsion force to microrobot. For the detailed actuation of microrobot in 3D space, the gravitational force of microrobot can be compensated. Finally, the performances of the proposed EMA system ware validated by various experiments.
새로운 전자기 구동 시스템을 이용한 2차원 평면 이동 마이크로 로봇
최현철(Hyunchul Choi),최종호(Jongho Choi),정세미(Semi Jeong),유충선(Chungsun Yu),박종오(Jongoh Park),박석호(Sukho Park) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
In this study, we examined the locomotion using of intravascular therapy microrobot with novel stationary electromagnetic actuation system. Locomotion of the microrobot is very important in various function of microrobot. However, by th size limitation of microrobot cannot be integrated a conventional actuator and a battery. To solve the actuation problem, we consider the locomotion of the microrobot with an Electromagnetic Actuation (EMA) system. Previously, an EMA system using two stationary coil pairs was proposed for the 2D planar locomotion of the microrobot. The EMA system used two stationary pairs of Helmholtz coils and of Maxwell coils in the x-and y-direction. This study proposes a novel stationary EMA system using two pairs of Helmholtz coils and one pair of Maxwell coils. The proposed EMA system can produce 2D locomotion of the microrobot, while having a small system volume and low power consumption than previous EMA system.
전자기 구동 시스템을 이용한 마이크로로봇의 3차원 이동 및 드릴링
이걸(Jie Li),최현철(Hyunchul Choi),차경래(Kyoungrae Cha),정세미(Semi Jeong),박종오(Jongoh Park),박석호(Sukho Park) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.5
This paper proposed a novel electromagnetic-driven microrobot system with locomotion and drilling functions in 3D(dimensional) space. Because of the size limitation of the microrobot, it does not have actuator, battery and controller. Therefore, for the driving of the microrobot, electromagnetic actuation (EMA) systems were used. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x, y and z axis and a Maxwell coil pair in z axis. The magnetic field generated in the EMA coil system could be controlled by the input currents of the EMA coils. The Helmholtz coil pairs were used to align the microrobot with the desired direction and also rotate it for the drilling function. In addition, the surface of the microrobot has many bumps to enhance the drilling performance. The Maxwell coil pair in z axis was used for the propulsion of the microrobot. Through the various experiments, Finally. The locomotion and drilling performances of the proposed EMA microrobot system were verified.
관형소화기관 진단을 위한 전자기 구동 캡슐내시경의 3차원 나선형 운동
이청(Cheong Lee),최현철(Hyunchul Choi),정세미(Semi Jeong),고광준(Gwangjun Go),고성영(Seong Young Ko),박종오(Jong-Oh Park),박석호(Sukho Park) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.11
We propose a new electromagnetic actuation system for capsule endoscope with steering, locomotion and rotational motion. The proposed electromagnetic actuation system consists of 3 pair of Helmholtz oils and 1 pair of Maxwell coils. The precessional motion and ascending motion of the magnetic capsule endoscope were realized using the proposed electromagnet actuation system. In addition, the magnetic capsule endoscope can move in an esophagus by the propulsion and the rotation with centrifugal force. First, we fabricated a capsule endoscope prototype with a desired magnetization direction and verified its scanning function through the helical motion of the capsule endoscope prototype in the mock-up of tubular digestive organs. Second, the capsule endoscope prototype also has a propulsion force to the perpendicular direction of axial vector when it tracks the helical path, and this force makes the capsule endoscope prototype to attach the inner wall of tubular environment. Through various experiments, the precession of the magnetic capsule endoscope using a glass tube was demonstrated and the feasibility of the capsule endoscope actuated by the electromagnetic actuation system was verified.
마이크로 로봇의 3차원 공간 구동을 위한 EMA 시스템
유충선(Chungseon Yu),최현철(Hyunchul Choi),박종오(Jongoh Park),박석호(Sukho Park) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
Various types of actuation methods for intravascular microrobot have been proposed. Among the actuation methods, electromagnetic based actuation (EMA) was considered as a promising mechanism. Especially, planar EMA systems for 2 dimensional locomotion of the microrobot were proposed and demonstrated. In this paper, we propose a new EMA system for the 3 dimensional locomotion of the microrobot. The proposed system consists of a coil system and a robotic actuation system. The coil system has a pair of Helmholtz coils and a pair of Maxwell coils, and the robotic actuation system has a serial robot structure with roll-pitch-roll rotational axes. Through various experiments, we can demonstrate 3 dimensional movement of the microrobot by using the proposed EMA system. The proposed EMA system can be utilized for the 3 dimensional actuation of the intravascular microrobot.