https://scholar.dgist.ac.kr/handle/20.500.11750/1198 2026-04-04T12:48:34Z https://scholar.dgist.ac.kr/handle/20.500.11750/60142 Title: 생물학적 물질 채취 캡슐 구조체 및 이의 구동 방법 Author(s): 박상현; 기현우; 박석호; 이효룡; 윤덕희 Abstract: 본 발명의 다양한 실시예에 따른 캡슐 구조체는 본체; 상기 본체에 수용되고 생물학적 물질을 채취하는 채취 모듈; 및 상기 본체에 수용되는 자성체를 포함하고, 상기 채취 모듈은 적어도 하나 이상 포함될 수 있다. 본체; 상기 본체에 수용되고 생물학적 물질을 채취하는 채취 모듈; 및 상기 본체에 수용되는 자성체를 포함하는 캡슐 구조체의 구동 방법에 있어서, 상기 채취 모듈은 채취 모듈 1부터 채취 모듈 n(여기서 n은 2이상의 정수)까지를 포함하고, 채취 모듈 1의 외부 보호층이 용해되는 단계; 캡슐 구조체를 목표 위치까지 이동시키는 단계; 제1 외부 신호를 인가하여 채취 모듈 1의 발열층을 가열하는 단계; 채취 모듈 1의 내부 보호층이 용해되는 단계; 및 채취 모듈 1의 고분자층이 생물학적 물질을 흡착하는 단계를 포함할 수 있다. https://scholar.dgist.ac.kr/handle/20.500.11750/59393 Title: Energy-Based Kinematic Analysis on Magnetic Soft Continuum Robot With Asymmetric Magnetization Author(s): Lee, Junyeong; Park, Joowon; Park, Sukho Abstract: Magnetically actuated soft continuum robots (MSCRs), which offer remote and wireless control via external magnetic fields along with high flexibility, have recently emerged as a promising technology for minimally invasive surgery (MIS). However, the magnetic actuation forces of MSCRs are generally limited, resulting in inherent workspace constraints. To overcome these limitations, various design strategies have been explored, including the development of an asymmetric magnetized soft continuum robot (AMSCR). Although AMSCRs have demonstrated a significantly larger workspace than conventional MSCRs, a quantitative relationship between the magnetization patterns of embedded magnetic particles and the resulting workspace has not yet been fully clarified. In this study, an energy-based kinematic analysis of AMSCR was conducted to address this issue. Specifically, the equilibrium posture of the AMSCR was determined by minimizing the total potential energy, considering different combinations of external magnetic field directions and internal magnetization patterns. Based on the resulting potential energy graph, the workspace of the AMSCR was quantitatively analyzed, and an optimal linear asymmetric magnetization pattern was identified. Furthermore, the proposed energy-based kinematic model was validated through finite element analysis (FEA) conducted using COMSOL Multiphysics, as well as through experiments performed on a fabricated AMSCR prototype. As a result, an optimal magnetization design method for linearly asymmetric AMSCRs was proposed and experimentally confirmed. The proposed approach is expected to be further applicable to the kinematic performance evaluation and design optimization of AMSCRs with various other magnetization patterns. 2026-01-31T15:00:00Z https://scholar.dgist.ac.kr/handle/20.500.11750/59368 Title: Image-Free Tumor Segmentation of Soft Tissue Using a Minimally Invasive Robotic Palpation System Author(s): Lee, Yun-jeong; Bang, Sang-won; Hong, Jeong-bin; Park, Sukho Abstract: Tumor segmentation is crucial for surgical planning and precise tumor resection for effective treatment. Traditionally, tumor localization has been performed using medical imaging techniques such as CT and MRI or through direct palpation by surgeons. However, in minimally invasive robotic surgery (MIS), these methods have limitations, including registration errors with imaging and inaccuracies caused by the subjectivity of palpation by surgeons. In this study, we introduce a robotic palpation system and an image-free process for MIS tumor segmentation using a robot. Our proposed system enables precise tumor shape differentiation through direct robotic palpation. For this, the robotic palpation system collects surface shape information through the proposed process, allowing tissue palpation at specific depths according to surface curvature. Additionally, it visualizes stiffness maps, enabling image-free tumor segmentation. In experiments using this system, evaluation of planar and curved phantom models demonstrates precise segmentation at targeted sites, with sensitivities of 0.9634 and 0.9729, and specificities of 0.9646 and 0.9878, respectively. Validation on ex-vivo porcine liver models further confirms the efficacy of our approach. 2025-11-30T15:00:00Z https://scholar.dgist.ac.kr/handle/20.500.11750/59366 Title: Integrated focused ultrasound and electromagnetic actuation (FUEM) system for enhanced targeted drug delivery in brain cancer treatment Author(s): Kee, Hyeonwoo; Lee, Hyoryong; Park, Joowon; Jang, Saeeun; Park, Sukho Abstract: Glioblastoma (GBM) is the most common and aggressive malignant brain tumor, accounting for nearly half of all primary brain cancers. Despite advances in therapy, therapeutic outcomes remain poor due to the restrictive nature of the blood-brain barrier (BBB), which limits drug delivery to brain tissue. Strategies that combine BBB opening with magnetic drug targeting (MDT) are being actively investigated. However, because conventional MDT using static magnetic fields induces magnetic nanoparticles (MNPs) chain formation, this aggregation hinders MNP penetration even after BBB opening, limiting therapeutic efficacy. To overcome this challenge, we propose an integrated system combining a focused ultrasound (FUS) unit with an electromagnetic actuation (EMA) unit. The FUS unit opens the BBB with microbubbles (MBs), and the EMA unit generates dynamic magnetic fields to break MNPs chains, enhancing MNPs penetration across the BBB. BBB opening is validated using an in vitro co-culture model of endothelial and pericyte cells. With the BBB opened, 50 nm MNPs loaded with doxorubicin (DOX) exhibit significantly enhanced therapeutic efficacy against GBM cells under dynamic magnetic fields. These results demonstrate that the proposed FUEM system significantly enhances drug delivery across the BBB, offering a promising strategy for targeted drug delivery in brain cancer therapy. 2025-12-31T15:00:00Z