Publications (4)0 Total impact
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Conference Proceeding: Position stabilization of microrobot using pressure signal in pulsating flow of blood vessel
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ABSTRACT: The target of this paper is the pressure sensor based positioning control of the microrobot in a pulsating flow of blood vessel using an electromagnetic actuation (EMA) system. For treatment of these coronary arterial diseases, various type microrobots with a wireless locomotive actuating power using EMA were proposed. However, because the intravascular blood flows have pulsate fluctuating and high pressurized waves, it is estimated that the stable positioning control of the microrobot in the blood vessel was very difficult. In detail, the pulsating blood flow generates the pulse type drag force on the microrobot and the drag force makes the microrobot's oscillating motion in the blood vessel. For the accurate positioning control of the microrobot, the pulse type drag force on the microrobot should be compensated. Therefore, for the compensation of the drag force on the microrobot, the pressure transducer in the blood vessel was introduced and the pressure signal of the blood flow was used. Through the pressure sensor based compensation of the drag force, the stabilization of the position of the microrobot could be tested and evaluated.Sensors, 2010 IEEE; 12/2010 -
Conference Proceeding: Positioning of microrobot in a pulsating flow using EMA system
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ABSTRACT: The purpose of this paper is the positioning control of the microrobot in a pulsating flow using electromagnetic actuation (EMA) System. Several types of EMA systems which are 2-dimensional and 3-dimensional locomotion control of microrobot were proposed and studied. Generally, these conventional researches of EMA systems showed the results of locomotion of microrobot in a fluid without flow. However, in the case of test of microrobot in a blood vessel, it is required that the experiments of locomotion should be performed in a pulsating flow like bloodstream. For that reason, we carried out basic locomotion research of the microrobot in the pulsating flow. For this experiment, we used simple 1-dimensional EMA system which consists of a pair of Helmholtz and Maxwell coils, and we set up a vascular simulator which can generate pulsating flow in the vessel phantom. The magnetized microrobot was inserted in the vascular simulator. The electromagnetic force which affects the motion of the microrobot was controlled by regulating input current to EMA system. The input current regulation was performed by considering the magnitude of flow rate and drag force of fluid to the microrobot. To measure the pressure variance of a pulsating flow in the vascular phantom, the pressure transducer was placed in front of the region of interest (ROI) and the control input which compensates the drag force to microrobot was generated by using the transducer signal. In addition, the position of microrobot was acquired through the CMOS camera and the feedback control loop was also implemented for accurate positioning control. The performance of the positioning control was evaluated by in-vitro experiments using vascular simulator. In addition, the feasibility of the position control of the microrobot was also evaluated by in-vivo animal experiments.Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on; 10/2010 -
Conference Proceeding: Electromagnetic actuation methods for intravascular locomotive microrobot
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ABSTRACT: Heart diseases such as angina pectoris and myocardial infarction have been becoming the leading causes of death all over the world in recent years. The pharmacotherapy and the surgical operations have been executed for treating heart problems. The percutaneous coronary intervention (PCI) with catheter is frequently used for the treatment of coronary artery diseases, but the treatment of chronic total occlusion (CTO) is very difficult and challenging operation, since there is no efficient alternative therapy until now. For this reason, the microrobot to improve the intravascular treatment is one of the growing research areas. In this paper, various electromagnetic actuation (EMA) systems to supply driving power for the microrobot were proposed. The performance of the locomotion of microrobot in the 2D and 3D space were validated with in-vitro experiments and also the in-vivo tests were performed for demonstrating the movement of microrobot in the living rabbit.Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE; 10/2010 -
Article: Electromagnetic actuation methods for intravascular locomotive microrobot.
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ABSTRACT: Heart diseases such as angina pectoris and myocardial infarction have been becoming the leading causes of death all over the world in recent years. The pharmacotherapy and the surgical operations have been executed for treating heart problems. The percutaneous coronary intervention (PCI) with catheter is frequently used for the treatment of coronary artery diseases, but the treatment of chronic total occlusion (CTO) is very difficult and challenging operation, since there is no efficient alternative therapy until now. For this reason, the microrobot to improve the intravascular treatment is one of the growing research areas. In this paper, various electromagnetic actuation (EMA) systems to supply driving power for the microrobot were proposed. The performance of the locomotion of microrobot in the 2D and 3D space were validated with in-vitro experiments and also the in-vivo tests were performed for demonstrating the movement of microrobot in the living rabbit.Conference proceedings: ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference 01/2010; 2010:1962-5.
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Institutions
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2010
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Chonnam National University
- School of Mechanical Systems Engineering
Yeoju, Gyeonggi, South Korea
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