Bioelectronics

Department of Electronics Convergence Engineering

Prof. Kim Sung Hoon

Bio-medical microrobot

Active catheter

Wireless cardiovascular

robots

Functional

wireless

endoscopic

robots

Practical applications in medicine

Robotic catheter

&

Stent

Wireless

cardiovascular

robots

Functional wireless

endoscopic robots

Active guide wire

H

S N

Gradient magnetic field - magnetic force control

H

Uniform magnetic field – magnetic torque control

Alternating Fields Rotating Fields

Micro-robots

- Drilling in blood vessels

- Targeted drug delivery

- Hyperthermia

- Marking & Sensing

- Targeted therapy

Robotic mechanisms for active locomotion

Mechanisms for vascular robots

2mm

0 0

0 0

0 0

)

cos cos sin cos sin cos

sin cos sin sin

sin cos cos sin

T m H=( x y z

x

y

z

T ,T ,T

T m Ht t

T t m H

t m HT

Biomimetic

approaches

Biomimetic mechanisms for

endoscopic robots

Diagnosis & Therapy

Camera module

Battery Drug chamber

MagnetsPrototype for the targeted drug release

Target point

80 Oe (6.366 kA/m)

4 Hz

Active locomotion

for endoscopic robot

Targeted drug delivery

and release

Functional

endoscopic robot

Soft-magnetic actuator in micro-robotics

High degree of freedom for shape

Multiple magnetization

High flexibility

Easy fabrication

Good magnetic features for a wireless manipulation

Complex shape indestructible Compatibility

Multiple magnetization High degree of freedom for shape

Applications

Active locomotion of conventional

capsule endoscope

Multi-link robot system

Gripper

Stent applications

robotic stent system

targeted drug delivery using magnetic particles

Mesh-type mechanism for robotic stent applications

Basic mechanism

Adhered magnetic particles

General method Self-adhered method

High degree of freedom for shape

Multiple magnetization

Functional

Magnetic robot

Hybrid actuator

mechanism

Preliminary

validationClinical Applications

Functional endoscope

Active guide wire

Drilling in blood vessel

Transportation

Active targeted drug delivery

Stent applications

Magnetic material

+

Smart material

Animal test

Biocompatibility

Smart mechanism

&

Structure

Present status

Substitution

Radiation exposure No radiation exposure

Magnetic sensing system

New navigation system

(robot, active catheter, stent)