Title

Magnetically Actuated Micro/Nanorobotic Medical Systems with Therapeutic Capabilities and Open-Loop Control

Alternative Title

향상된 치료 기능과 개루프 제어 방식을 탑재한 자기구동형 마이크로·나노로봇 기반 의료 시스템

DGIST Authors

Hakjoon Lee ; Hongsoo Choi ; Dongwon Yun

Advisor

최홍수

Co-Advisor(s)

Dongwon Yun

Issued Date

2025

Awarded Date

2025-08-01

Type

Thesis

Description

magnetic actuation,microrobot,nanorobot,neurovascular intervention,targeted drug delivery

Table Of Contents

Ⅰ. INTRODUCTION 1
1.1 Motivation 1
1.2 Literature Survey of Micro/Nanorobotic Systems for Biomedical Applications 3
1.2.1 Principle of magnetic actuation 3
1.2.2 Neurovascular intervention using magnetically steerable catheters 8
1.2.3 Targeted drug delivery using magnetic nanoparticles 4
1.3 Research Objectives and Expected Contribution 7

ⅠI. STEERABLE AND EXPANDABLE ASPIRATION CATHETER WITH A MAGNETICALLY ACTUATED MICROROBOT 19
2.1 Introduction 19
2.2 Magnetic Microrobot with Active Steering and Expanding 22
2.2.1 Fabrication of the magnetic microrobot 22
2.2.2 Magnetically actuated steering motion 26
2.2.3 Magnetically actuated expanding motion 30
2.3 Enhanced Aspiration Thrombectomy 35
2.3.1 Enhanced aspiration using active expanding 35
2.3.2 Enhanced navigation using active steering 40
2.3.3 Demonstration of aspiration thrombectomy 48
2.3.4 Clinical applicability 49
2.4 Summary 52

III. HUMAN-SCALE MAGNETIC NAVIGATION SYSTEM FOR ROBOTIC VASCULAR INTERVENTION 54
3.1 Introduction 54
3.2 Novel MAS with Flat Configuration Using Angled Magnetic Cores 57
3.2.1 Effectiveness of angled magnetic cores 57
3.2.2 Magnetic yoke connection for closed magnetic circuits 59
3.3 Nonlinear Field Generation Using Magnetically Coupled Electromagnets 63
3.3.1 Nonlinear field modeling of coupled electromagnets 63
3.3.2 Optimization-based field generation with different objectives 70
3.4 Summary 72

ⅠV. OPEN-LOOP SWARM CONTROL OF MAGNETIC NANOPARTICLES USING THE DIVERGENCE CONTROL OF MAGNETIC FORCES 73
4.1 Introduction 73
4.2 Two-Dimensional Divergence Control of Magnetic Forces 75
4.2.1 3D divergence control of magnetic forces (Earnshaw’s theorem) 75
4.2.2 2D divergence control on the horizontal plane 76
4.3 Open-Loop Position Control of a Magnetic Robot 81
4.3.1 Experimental setup 81
4.3.2 Open-loop control using 2D divergence forces 82
4.3.3 Position control along a predefined trajectory 85
4.4 Summary 85

V. MAGNETICALLY ENHANCED PENETRATION OF MAGNETIC NANOPARTICELS 87
5.1 Introduction 87
5.2 1D MAS for Alternating Fields and Forces Generation 90
5.2.1 Parametric design of a pair of solenoids 90
5.2.2 RLC resonance control using a variable capacitance module 92
5.3 Enhanced MNP Penetration 97
5.3.1 Experimental setup 97
5.3.2 Alternating field and forces generation 99
5.3.3 In vitro validation of enhanced MNP penetration 103
5.4 Summary 107

VI. CONCLUSION AND FUTURE WORK 108
6.1 Conclusion 108
6.2 Future Work 110
6.2.1 Neurovascular intervention using magnetic catheters 110
6.2.2 Targeted drug delivery using MNPs 112
REFERENCE 114
요약문 128

URI

https://scholar.dgist.ac.kr/handle/20.500.11750/59779
http://dgist.dcollection.net/common/orgView/200000891225

DOI

10.22677/THESIS.200000891225

Degree

Doctor

Department

Department of Robotics and Mechatronics Engineering

Publisher

DGIST

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