Crawling Magnetic Robot to Perform a Biopsy in Tubular Environments by Controlling a Magnetic Field
- Title
- Crawling Magnetic Robot to Perform a Biopsy in Tubular Environments by Controlling a Magnetic Field
- Author
- 장건희
- Keywords
- biopsy; crawling locomotion; magnetic field; magnetic robot; permanent magnet
- Issue Date
- 2021-06
- Publisher
- MDPI
- Citation
- APPLIED SCIENCES-BASEL, v. 11, NO. 11, article no. 5292
- Abstract
- We developed a crawling magnetic robot (CMR), which can stably navigate and perform biopsies remotely in tubular environments by controlling a magnetic field. The CMR is composed of a crawling part and a biopsy part. The crawling part allows the CMR to crawl forward and backward via an asymmetric friction force generated by an external precessional magnetic field. The biopsy part closes or opens the cover of a needle to use the biopsy needle selectively with the control of the external precessional magnetic field. The cover of the biopsy part prevents damage to the tubular environments because the biopsy needle is inside the cover while the CMR is navigating. We developed the design of the proposed CMR using magnetic torque constraints and a magnetic force constraint, and then we fabricated the CMR with three-dimensional printing technology. Finally, we conducted an experiment to measure the CMR's puncturing force with a load cell and conducted an experiment in a Y-shaped watery glass tube with pseudo-tissue to verify the crawling motion, the uncovering and covering motion of the biopsy needle, and the CMR's ability to extract tissue with the biopsy needle.
- URI
- https://www.mdpi.com/2076-3417/11/11/5292https://repository.hanyang.ac.kr/handle/20.500.11754/177715
- ISSN
- 2076-3417;2076-3417
- DOI
- 10.3390/app11115292
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
- Files in This Item:
- Crawling Magnetic Robot to Perform a Biopsy in Tubular Environments by Controlling a Magnetic Field.pdfDownload
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