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자기장으로 구동되는 관내 구동용 생검마이크로로봇과 이의 제어방법 개발
장봉준(Bongjun Jang),남재광(Jaekwang Nam),이원서(Wonseo Lee),김종률(Jongyul Kim),장건희(Gunhee Jang) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
We propose a novel biopsy micro-robot (BMR) and control method utilizing external precession magnetic field (EPMF). The BMR can generate helical motion to navigate in fluidic environments and selective needle releasing motion to take specimens by utilizing the EPMF. Since a field direction vector of the EPMF rotate along the axis with a precession angle (δ), the BMR composed of the multiple magnets can rotates with respect to the field axis to generate the helical motion. The needle releasing motion can be selectively generated by controlling the field direction of the EPMF. Finally, we fabricated a prototype of the BMR and constructed a magnetic navigation system (MNS) to generate the EPMF. Then, we conducted navigation experiments in complex tube and biopsy experiments with pseudo specimen made by agar to verify the BMR and its manipulation methods.