Title

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

DGIST Authors

Chowdhury A M Masum Bulbul ; Hongsoo Choi ; Dongwon Yun

Advisor

최홍수

Co-Advisor(s)

Dongwon Yun

Issued Date

2025

Awarded Date

2025-08-01

Type

Thesis

Description

Virtual Reality, Robotic Actuators, Microrobot, Guidewire, Teleoperation

Table Of Contents

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

URI

https://scholar.dgist.ac.kr/handle/20.500.11750/59778
http://dgist.dcollection.net/common/orgView/200000888251

DOI

10.22677/THESIS.200000888251

Degree

Doctor

Department

Department of Robotics and Mechatronics Engineering

Publisher

DGIST

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