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Development of a crawling microrobot with a drilling ability and its closed-loop control methodology using bi-plane camera

Title
Development of a crawling microrobot with a drilling ability and its closed-loop control methodology using bi-plane camera
Author
김승주
Alternative Author(s)
Kim, Seung Joo
Advisor(s)
장건희
Issue Date
2015-02
Publisher
한양대학교
Degree
Master
Abstract
Coronary artery diseases are one of the major causes of mortality, and the associated death rate is rapidly increasing. One method for treating coronary artery disease is catheter surgery, which can unclog a blocked blood vessel or expand a narrowed blood vessel, but catheter surgery has some challenges, including problems navigating within twisted and narrowed blood vessels. As an alternative to this conventional treatment, the use of wireless microrobots driven by external magnetic fields has been studied extensively. Since their operating power is based on the magnetic torque and force exerted on a magnetic body in an external magnetic field, microrobots can be manipulated wirelessly without having to carry batteries or power transference mechanisms. Microrobots are expected to carry out tasks such as enhanced unclogging motions, drug deliveries, tissue biopsies, sensing, etc.
URI
https://repository.hanyang.ac.kr/handle/20.500.11754/128925http://hanyang.dcollection.net/common/orgView/200000425718
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHANICAL CONVERGENCE ENGINEERING(융합기계공학과) > Theses (Master)
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