EMA System을 이용한 마이크로로봇의 3차원 구동에 관한 연구

For treatment of cardiovascular disease and drug delivery, the locomotion mechanisms of microrobot have been studied. However, by the restriction of integration of rnicrorobot such as actuation part, sensing module and treatment tool, the development of microrobot is very difficult. For solving this problem, we propose a new electromagnetic actuation (EMA) system which can produce external actuation force by electromagnet field. In 3 dimensional (D) spaces, the EMA system is able to align microrobot to the desired direction and propels microrobot to the aligned direction. The proposed EMA system consists of a stationary Helmholtz-Maxwell coils pairs and a rotational Helmholtz-Maxwell coils pairs. For 3D locomotion of microrobot, two Helmholtz coils pair can magnetize and align the microrobot to desired direction and two Maxwell coils pair can produce propulsion force to microrobot. For the detailed actuation of microrobot in 3D space, the gravitational force of microrobot can be compensated. Finally, the performances of the proposed EMA system ware validated by various experiments.