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  Department of Robotics and Mechatronics Engineering Theses Ph.D.

Virtual Reality-Assisted Teleoperation of Untethered and Tethered Magnetic Microrobots in Complex Medical Environments.

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dc.contributor.advisor 최홍수 -
dc.contributor.author Chowdhury A M Masum Bulbul -
dc.date.accessioned 2026-01-23T10:59:29Z -
dc.date.available 2026-01-23T10:59:29Z -
dc.date.issued 2025 -
dc.identifier.uri https://scholar.dgist.ac.kr/handle/20.500.11750/59778 -
dc.identifier.uri http://dgist.dcollection.net/common/orgView/200000888251 -
dc.description Virtual Reality, Robotic Actuators, Microrobot, Guidewire, Teleoperation -
dc.description.tableofcontents LIST OF CONTENTS

ABSTRACT i
LIST OF CONTENTS iv
LIST OF TABLES v
LIST OF FIGURES v
1. Introduction 1
1.1 Background 1
1.2 Objectives of research 8
2. Virtual Reality-enabled Intuitive Magnetic Manipulation of Microrobots and Nanoparticles 16
2.1 Introduction 17
2.2 Design overview of the VR control framework 19
2.3 Design of vasculature phantoms 24
2.4 Camera calibration and tracking 27
2.5 Electromagnetic Actuation System 31
2.6 Results 32
2.8 Conclusions 45
3. Dual Active Tilted Roller Actuation System (DATRAS) with an electromagnetic actuation system for vascular
intervention 47
3.1 Introduction 48
3.2 System Kinematics 53
3.3 System Functionality 65
3.4 System Hardware 72
3.5 Control Architecture 74
3.6 Experimental Setup 77
3.7 Conclusions 81
5. An Integrated Virtual Reality (VR)-assisted Robotic Teleoperation System for Vascular Intervention 82
5.1 Introduction 83
5.2 VR-enabled Integrated Robotic Intervention System 88
5.3 Experimental Setup 92
5.4 Validation of Integrated System Functionality 96
5.5 Conclusions 101
6. Conclusions and Future work 102

4.1 Conclusions 102
4.2 Future works 107
ACKNOWLEDGMENT 110
PUBLICATION LIST 111
REFERENCES 112

요 약 문 120		 -
dc.format.extent 121 -
dc.language eng -
dc.publisher DGIST -
dc.title Virtual Reality-Assisted Teleoperation of Untethered and Tethered Magnetic Microrobots in Complex Medical Environments. -
dc.type Thesis -
dc.identifier.doi 10.22677/THESIS.200000888251 -
dc.description.degree Doctor -
dc.contributor.department Department of Robotics and Mechatronics Engineering -
dc.contributor.coadvisor Dongwon Yun -
dc.date.awarded 2025-08-01 -
dc.publisher.location Daegu -
dc.description.database dCollection -
dc.citation XT.RD C552 202508 -
dc.date.accepted 2025-07-21 -
dc.contributor.alternativeDepartment 로봇및기계전자공학과 -
dc.subject.keyword Virtual Reality, Robotic Actuators, Microrobot, Guidewire, Teleoperation -
dc.contributor.affiliatedAuthor Chowdhury A M Masum Bulbul -
dc.contributor.affiliatedAuthor Hongsoo Choi -
dc.contributor.affiliatedAuthor Dongwon Yun -
dc.contributor.alternativeName 마숨 -
dc.contributor.alternativeName Hongsoo Choi -
dc.contributor.alternativeName 윤동원 -
dc.rights.embargoReleaseDate 2030-08-31 -
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