자기장으로 혈관내에서 구동되는 crawling microrobot의 개발

Abstract

A microrobot driven by an external magnetic field is one of a possible medical alternative for intraocular and cardiovascular diseases because of its wireless manipulation and battery-free capabilities. Previous researchers have developed several types of microrobots utilizing a uniform magnetic field whose generation and manipulation is straightforward. Although the uniform magnetic field can basically generate the magnetic torque of a microrobot, it can contribute another type of actuating force for the microrobot such as the propulsive friction and reaction forces. In this paper, we propose a novel type of a microrobot referred to crawling microrobot manipulated by an oscillating uniform magnetic field. The microrobot is composed of several serial modules, and each module is composed of a ring magnet inserted into a plastic holder, elastic leg, and connecting bar. When the microrobot is repeatedly rotated by an oscillating uniform magnetic field in a tubular environment such as a human blood vessel, the microrobot can be propelled forward and backward by the anisotropic friction force generated between the leg and wall of the tube. The microrobot can stably sustain its position in a pulsatile fluidic environment by the supporting elastic legs. This research can contribute to the precise manipulation and therapeutic utilization of a microrobot in human blood vessels.