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권지운(Jiwoon Kwon),박석호(Sukho Park),김병규(Byungkyu Kim),박장현(Jahng-hyon Park) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5
In order to develop the earthworm-like locomotive mechanism, which will be mounted in capsule type endoscope, bio-material property is essential information. Especially, the friction force between capsule endoscope and the tissues of the gastro-intestinal (GI) tract is crucial parameter since it affects the mobility of endoscope. In this paper, we propose the bio-material property measuring system which can supply the information to design of the locomotive mechanism. This system is actuated by DC motor and controlled by PID controller. Also, the measured data is acquired by AD board (D-space Inc.). By using the proposed measuring system, we evaluate the effects of design parameters that affect the friction force between the capsule endoscope and GI tract to get the dominant ones. Through the test, we conclude that diameter and shape are major parameters, however, velocity, mass and stroke are minor parameters of friction force.
생체모방 의료용 마이크로시스템의 마찰 메커니즘에 대한 연구
김영태(YoungTae Kim),김대은(DaeEun Kim),박석호(SukHo Park) 한국트라이볼로지학회 2005 한국트라이볼로지학회 학술대회 Vol.2005 No.11
In order to develop a self-propelled medical microrobot to move by its feet inside the small intestine, frictional mechanisms between the small intestine wall and the foot of the robot must be understood. In this paper biomimetic approach was considered to design the surface of the foot to achieve the desired frictional interaction. The concept of the design was derived from the hookworms that live inside the small intestine. They have teeth that adhere to the small intestine wall by interlocking with villi on the surface of the small intestine. The interlocking mechanism was considered as the main frictional mechanism for the design of the microrobot foot surface. The cylinder shaped foot specimens were designed and tested to understand the frictional mechanism. Experiments were performed with various diameter solid and hollow cylinders and the effects of contact area, interlocking, and contact pressure were investigated.
MCF 세포의 효율적인 분리를 위한 DEP 를 기반으로 한 세포 분리기의 설계와 적용
안재민(Jaemin An),박정렬(Jungyul Park),김영호(Youngho Kim),박석호(Sukho Park),김병규(Byungkyu Kim),박종오(Jongoh Park),이상호(Sangho Lee) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11
This paper presents the development of a novel dielectrophoresis (DEP)-activated cell sorter (DACS) that has 3D-asymmeritc microelectrodes. The DACS conventionally utilizes relative strength between the DEP and drag forces. While the conventional cell separators usually depend on different size of cells, the new system differentiates similarly- sized cells by the difference of the electrical properties among cells. It distinguished different types of cells by their differences in electrical properties, conductivity and permittivity. Thus, continuously varying DEP forces generated by the system enabled us to separate MCF10A cells (normal cells derived from human breast epithelium) and MCF7 cells (human breast cancer cells) that have similar sizes. Applying the newly-developed system to separate two different cells, it was possible to separate cancer cells among normal cells.
승성민(Sungmin Seung),강병전(Byungjeon Kang),박석호(Sukho Park),박종오(Jongoh Park),김경환(Kyunghwan Kim) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
Recently, due to the remarkable progress of robot technologies, many robots are applied to various applications. Especially, for the requests of the high quality medical service, the interests of medical robot rapidly increased. The area of medical robot system is classified into surgical robot, surgical assisting robot, surgical simulator and rehabilitation robot. This paper suggested a teleoperation surgical robot system for a minimally invasive brain surgery. The propose robot system consists of 4 DOF master system and 4 DOF slave manipulator, which are driven by electrical motors and tendon mechanism. The haptic feedback in master system can be realized and thus the precise manipulation of the slave system is possible. For the minimally invasive brain surgery, the miniaturized slave manipulator is designed fabricated. The slave system and the master control system are connected by TCP/IP communication and the slave system can be remotely controlled by the master system.
최종호(Jongho Choi),최현철(Hyunchul Choi),박석호(Sukho Park),박종오(Jong-oh Park) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
This paper proposes the locomotion of microrobot by using two-dimensional electromagnetic actuation system (EMA) for application on intravascular therapy of human body. This system consists of two pairs of stationary Helmholtz and Maxwell. Therefore, we can manipulate microrobot of a cylindrical type permanent magnet. It is verified that the microrobot can locomote using electromagnetic field theoretically and validated the performance of the locomotive mechanism. Using CCD camera to this EMA system, we can recognize the position of the microrobot which is inside of region of interest for moving it to the desired target position. The simple proportional (P) controller is used for this EMA system. The purpose of this research is the precise control of microrobot. Firstly, we demonstrate the autonomous locomotion of the microrobot along a desired path. Secondly, we adopt a conventional joystick system, and the operators can use, in a real operation and realize the path control of the microrobot.