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  Department of Robotics and Mechatronics Engineering Theses Ph.D.

Magnetically Actuated Flexible Tools for Invasive Vascular Intervention

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dc.contributor.advisor 최홍수 -
dc.contributor.author Dong Xiao -
dc.date.accessioned 2026-01-23T10:59:13Z -
dc.date.available 2026-01-23T10:59:13Z -
dc.date.issued 2025 -
dc.identifier.uri https://scholar.dgist.ac.kr/handle/20.500.11750/59772 -
dc.identifier.uri http://dgist.dcollection.net/common/orgView/200000890563 -
dc.description Magnetic polymer, Magnetically steerable guidewire, Magnetically steerable soft gripper, Micro-magnet string, Vascular interventional surgery -
dc.description.tableofcontents Ⅰ. Introduction 1
1.1 Invasive vascular intervention 1
1.2 Magnetically steerable guidewire 3
1.3 Magnetically steerable soft gripper 6
1.3.1 Soft gripper 6
1.3.2 Steerable gripper with tendon-driven actuation 13
1.3.3 Steerable gripper with pneumatic or hydraulic actuation 15
1.3.4 Steerable gripper with magnetic actuation16
1.4 Magnetically actuated flexible tools in our group20
1.4.1 Electromagnetic actuation system 20
1.4.2 Magnetically steerable guidewire 24
Ⅱ. Micro-Magnet String-Based Guidewire 31
2.1 Design and fabrication 31
2.1.1 Design of the MMSG 31
2.1.2 Fabrication process of the MMSG 31
2.1.3 Working principle 33
2.2 Optimization of micro-magnet string configuration 35
2.2.1 Theoretical analysis for the magnetic bending angles 35
2.2.2 Magnetic bending angles of different micro-magnet string designs 38
2.3 Characterization of MMSG tips 42
2.3.1 Design of MMSG tips 42
2.3.2 Characterization of the magnetic bending angle 45
2.3.3 Characterization of the bending stiffness 49
2.4 Magnetic navigation of the fabricated MMSG in the 2D and 3D phantoms 53
2.4.1 Magnetic steering operation in the 2D phantom 53
2.4.2 Magnetic steering operation in the 3D phantom 58
Ⅲ. Magnetically Steerable Soft Gripper 62
3.1 Design and method 62
3.1.1 Design of 3D structure and magnetization direction 62
3.1.2 Magnetic actuation principle 64
3.1.3 Magnetic elastic beam under uniform magnetic field 66
3.2 Fabrication process 72
3.2.1 Fabrication of the magnetic polymer film 72
3.2.2 Fabrication of the magnetic steering part 85
3.2.3 Fabrication of the magnetic gripper part 88
3.2.4 Fabrication of integration 90
3.3 Characterization 93
3.3.1 Characterization of single magnetic gripper finger 93
3.3.2 Characterization of the magnetic soft gripper 103
3.3.3 Characterization of the integrated magnetically steerable soft gripper connected with a PDMS tube 111
3.3.4 Characterization of the integrated magnetically steerable soft gripper connected with the commercial catheter 118
Ⅳ. Conclusion and Further Work 124
4.1 Conclusion 124
4.1.1 Magnetically steerable guidewire 124
4.1.2 Magnetically steerable soft gripper 125
4.2 Further work 128
4.2.1 Magnetically steerable guidewire 128
4.2.2 Magnetically steerable soft gripper 129
References 131
요 약 문 150
Appendix 153		 -
dc.format.extent 161 -
dc.language eng -
dc.publisher DGIST -
dc.title Magnetically Actuated Flexible Tools for Invasive Vascular Intervention -
dc.type Thesis -
dc.identifier.doi 10.22677/THESIS.200000890563 -
dc.description.degree Doctor -
dc.contributor.department Department of Robotics and Mechatronics Engineering -
dc.contributor.coadvisor Sanghoon Lee -
dc.date.awarded 2025-08-01 -
dc.publisher.location Daegu -
dc.description.database dCollection -
dc.citation XT.RD D682 202508 -
dc.date.accepted 2025-07-21 -
dc.contributor.alternativeDepartment 로봇및기계전자공학과 -
dc.subject.keyword Magnetic polymer, Magnetically steerable guidewire, Magnetically steerable soft gripper, Micro-magnet string, Vascular interventional surgery -
dc.contributor.affiliatedAuthor Dong Xiao -
dc.contributor.affiliatedAuthor Hongsoo Choi -
dc.contributor.affiliatedAuthor Sanghoon Lee -
dc.contributor.alternativeName 동 성 -
dc.contributor.alternativeName Hongsoo Choi -
dc.contributor.alternativeName 이상훈 -
dc.rights.embargoReleaseDate 2030-08-31 -
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