Magnetic robot and manipulation for active-locomotion with targeted drug release

Sung Hoon Kim, Kazushi Ishiyama

研究成果: Article査読

65 被引用数 (Scopus)

抄録

In this paper, we propose a new mechanism for targeted drug release based on active locomotion. The manipulating method is a magnetic torque control based on a rotating magnetic field using a three-axis Helmholtz coil system. The applied magnetic field creates two rolling (radial and longitudinal directions) and a rotating motion for active locomotion according to variations in the working space and robot posture. Two spiral components in the robot mechanism and the rotating motion completely conduct and control the drug release. Magnetic attractive force between the two spiral components prevents drug leakage during the movement for targeting. When the robot arrives at the destination, the robot switches the direction of the thrust force of the two spiral components to separate the robot body for the drug release. The thrust force for the drug release is higher than the magnetic attractive force. We verified the rapid active locomotion and targeted drug release using precise control through various experiments. In our assessment, the proposed robot mechanism can realize the role of a functional medical robot for therapy and diagnosis.

本文言語English
論文番号6679255
ページ(範囲)1651-1659
ページ数9
ジャーナルIEEE/ASME Transactions on Mechatronics
19
5
DOI
出版ステータスPublished - 2014 10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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