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Chang-Sei Kim
Korea Institute of Medical Microrobotics (KIMIRo), Gwangju, Korea

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Article
Published: 23 July 2021 in Scientific Reports
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Magnetic nanorobots (MNRs) based on paramagnetic nanoparticles/nanoclusters for the targeted therapeutics of anticancer drugs have been highlighted for their efficiency potential. Controlling the locomotion of the MNRs is a key challenge for effective delivery to the target legions. Here, we present a method for controlling paramagnetic nanoclusters through enhanced tumbling and disaggregation motions with a combination of rotating field and gradient field generated by external electromagnets. The mechanism is carried out via an electromagnetic actuation system capable of generating MNR motions with five degrees of freedom in a spherical workspace without singularity. The nanocluster swarm structures can successfully pass through channels to the target region where they can disaggregate. The results show significantly faster response and higher targeting rate by using rotating magnetic and gradient fields. The mean velocities of the enhanced tumbling motion are twice those of the conventional tumbling motion and approximately 130% higher than the gradient pulling motion. The effects of each fundamental factor on the locomotion are investigated for further MNR applications. The locomotion speed of the MNR could be predicted by the proposed mathematical model and agrees well with experimental results. The high access rate and disaggregation performance insights the potentials for targeted drug delivery application.

ACS Style

Kim Tien Nguyen; Gwangjun Go; Jin Zhen; Manh Cuong Hoang; Byungjeon Kang; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. Locomotion and disaggregation control of paramagnetic nanoclusters using wireless electromagnetic fields for enhanced targeted drug delivery. Scientific Reports 2021, 11, 1 -13.

AMA Style

Kim Tien Nguyen, Gwangjun Go, Jin Zhen, Manh Cuong Hoang, Byungjeon Kang, Eunpyo Choi, Jong-Oh Park, Chang-Sei Kim. Locomotion and disaggregation control of paramagnetic nanoclusters using wireless electromagnetic fields for enhanced targeted drug delivery. Scientific Reports. 2021; 11 (1):1-13.

Chicago/Turabian Style

Kim Tien Nguyen; Gwangjun Go; Jin Zhen; Manh Cuong Hoang; Byungjeon Kang; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. 2021. "Locomotion and disaggregation control of paramagnetic nanoclusters using wireless electromagnetic fields for enhanced targeted drug delivery." Scientific Reports 11, no. 1: 1-13.

Journal article
Published: 21 July 2021 in Computerized Medical Imaging and Graphics
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Automated three-dimensional (3D) blood vessel reconstruction to improve vascular diagnosis and therapeutics is a challenging task in which the real-time implementation of automatic segmentation and specific vessel tracking for matching artery sequences is essential. Recently, a deep learning-based segmentation technique has been proposed; however, existing state-of-the-art deep architectures exhibit reduced performance when they are employed using real in-vivo imaging because of serious issues such as low contrast and noise contamination of the X-ray images. To overcome these limitations, we propose a novel methodology composed of the de-haze image enhancement technique as pre-processing and multi-level thresholding as post-processing to be applied to the lightweight multi-resolution U-shaped architecture. Specifically, (1) bi-plane two-dimensional (2D) vessel images were extracted simultaneously using the deep architecture, (2) skeletons of the vessels were computed via a morphology operation, (3) the corresponding skeleton structure between image sequences was matched using the shape-context technique, and (4) the 3D centerline was reconstructed using stereo geometry. The method was validated using both in-vivo and in-vitro models. The results show that the proposed technique could improve the segmentation quality, reduce computation time, and reconstruct the 3D skeleton automatically. The algorithm accurately reconstructed the phantom model and the real mouse vessel in 3D in 2 s. Our proposed technique has the potential to allow therapeutic micro-agent navigation in clinical practice, thereby providing the 3D position and orientation of the vessel.

ACS Style

D.M. Bappy; Ayoung Hong; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. Automated three-dimensional vessel reconstruction based on deep segmentation and bi-plane angiographic projections. Computerized Medical Imaging and Graphics 2021, 92, 101956 .

AMA Style

D.M. Bappy, Ayoung Hong, Eunpyo Choi, Jong-Oh Park, Chang-Sei Kim. Automated three-dimensional vessel reconstruction based on deep segmentation and bi-plane angiographic projections. Computerized Medical Imaging and Graphics. 2021; 92 ():101956.

Chicago/Turabian Style

D.M. Bappy; Ayoung Hong; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. 2021. "Automated three-dimensional vessel reconstruction based on deep segmentation and bi-plane angiographic projections." Computerized Medical Imaging and Graphics 92, no. : 101956.

Journal article
Published: 12 July 2021 in Actuators
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As wireless capsule endoscope (WCE) technology has advanced, various studies were published on WCEs with functional modules for the diagnosis and treatment of problems in the digestive system. However, when additional functional modules are added the physical size of the WCEs will increase, making them more difficult for patients to comfortably swallow. Moreover, there are limitations when it comes to adding multi-functional modules to the WCEs due to the size of the digestive tract itself. This article introduces a controllable modular capsule endoscope driven by an electromagnetic actuation (EMA) system. The modular capsules are divided into a driving capsule and a functional capsule. Capsules with different functions are swallowed in sequence and then recombination, transportation and separation functions are carried out under the control of the EMA system while in the stomach, this approach solves the size limitation issues faced by multi-functional capsule endoscopes. The recombination and separation functions make use of a characteristic of soft magnetic materials so that their magnetization direction can be changed easily. These functions are made possible by the addition of a soft magnet to the capsule together with the precise control of magnetic fields provided by the EMA system.

ACS Style

Zhenyu Li; Manh Hoang; Chang-Sei Kim; Eunpyo Choi; Doyeon Bang; Jong-Oh Park; Byungjeon Kang. Modular Capsules with Assembly and Separation Mechanism: Proof of Concept. Actuators 2021, 10, 159 .

AMA Style

Zhenyu Li, Manh Hoang, Chang-Sei Kim, Eunpyo Choi, Doyeon Bang, Jong-Oh Park, Byungjeon Kang. Modular Capsules with Assembly and Separation Mechanism: Proof of Concept. Actuators. 2021; 10 (7):159.

Chicago/Turabian Style

Zhenyu Li; Manh Hoang; Chang-Sei Kim; Eunpyo Choi; Doyeon Bang; Jong-Oh Park; Byungjeon Kang. 2021. "Modular Capsules with Assembly and Separation Mechanism: Proof of Concept." Actuators 10, no. 7: 159.

Journal article
Published: 23 April 2021 in Applied Sciences
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This paper presents a compact-sized haptic device based on a cable-driven parallel robot (CDPR) mechanism for teleoperation. CDPRs characteristically have large workspaces and lightweight actuators. An intuitive and user-friendly remote control has not yet been achieved, owing to the unfamiliar multiple-cable configuration of CDPRs. To address this, we constructed a portable compact-sized CDPR with the same configuration as that of a larger fully constrained slave CDPR. The haptic device is controlled by an admittance control for stiffness adjustment and implemented in an embedded microprocessor-based controller for easy installation on an operator’s desk. To validate the performance of the device, we constructed an experimental teleoperation setup by using the prototyped portable CDPR as a master and larger-size CDPR as a slave robot. Experimental results showed that a human operator can successfully control the master device from a remote site and synchronized motion between the master and slave device was performed. Moreover, the user-friendly teleoperation could intuitively address situations at a remote site and provide an operator with realistic force during the motion of the slave CDPR.

ACS Style

Jae-Hyun Park; Min-Cheol Kim; Ralf Böhl; Sebastian Gommel; Eui-Sun Kim; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. A Portable Intuitive Haptic Device on a Desk for User-Friendly Teleoperation of a Cable-Driven Parallel Robot. Applied Sciences 2021, 11, 3823 .

AMA Style

Jae-Hyun Park, Min-Cheol Kim, Ralf Böhl, Sebastian Gommel, Eui-Sun Kim, Eunpyo Choi, Jong-Oh Park, Chang-Sei Kim. A Portable Intuitive Haptic Device on a Desk for User-Friendly Teleoperation of a Cable-Driven Parallel Robot. Applied Sciences. 2021; 11 (9):3823.

Chicago/Turabian Style

Jae-Hyun Park; Min-Cheol Kim; Ralf Böhl; Sebastian Gommel; Eui-Sun Kim; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. 2021. "A Portable Intuitive Haptic Device on a Desk for User-Friendly Teleoperation of a Cable-Driven Parallel Robot." Applied Sciences 11, no. 9: 3823.

Journal article
Published: 16 February 2021 in IEEE Robotics and Automation Letters
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A cylindrical shaped marine invertebrate ascidian has muscle fibers surrounding its body, which induce the contraction motion when the animal senses the external stimuli. As inspired by its cylindrical shape and the contraction motion of the ascidian, we introduce a soft robot that resembles this water animal. In this letter, we first discuss the design of the robot that can be magnetically actuated and create different motions due to different magnetic moments for each segment of the robot. The crawling motion of the robot is presented with a sinusoidal waveform of the magnetic field and we demonstrate the utility of our bio-inspired soft robot for transporting a millimeter-sized object and releasing a drug in a specific location.

ACS Style

Shirong Zheng; Tongil Park; Manh Cuong Hoang; Gwangjun Go; Chang-Sei Kim; Jong-Oh Park; Eunpyo Choi; Ayoung Hong. Ascidian-Inspired Soft Robots That Can Crawl, Tumble, and Pick-and-Place Objects. IEEE Robotics and Automation Letters 2021, 6, 1722 -1728.

AMA Style

Shirong Zheng, Tongil Park, Manh Cuong Hoang, Gwangjun Go, Chang-Sei Kim, Jong-Oh Park, Eunpyo Choi, Ayoung Hong. Ascidian-Inspired Soft Robots That Can Crawl, Tumble, and Pick-and-Place Objects. IEEE Robotics and Automation Letters. 2021; 6 (2):1722-1728.

Chicago/Turabian Style

Shirong Zheng; Tongil Park; Manh Cuong Hoang; Gwangjun Go; Chang-Sei Kim; Jong-Oh Park; Eunpyo Choi; Ayoung Hong. 2021. "Ascidian-Inspired Soft Robots That Can Crawl, Tumble, and Pick-and-Place Objects." IEEE Robotics and Automation Letters 6, no. 2: 1722-1728.

Journal article
Published: 13 February 2021 in Micromachines
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The ability to manipulate therapeutic agents in fluids is of interest to improve the efficiency of targeted drug delivery. Ultrasonic manipulation has great potential in the field of therapeutic applications as it can trap and manipulate micro-scale objects. Recently, several methods of ultrasonic manipulation have been studied through standing wave, traveling wave, and acoustic streaming. Among them, the traveling wave based ultrasonic manipulation is showing more advantage for in vivo environments. In this paper, we present a novel ultrasonic transducer (UT) array with a hemispherical arrangement that generates active traveling waves with phase modulation to manipulate a micromotor in water. The feasibility of the method could be demonstrated by in vitro and ex vivo experiments conducted using a UT array with 16 transducers operating at 1 MHz. The phase of each transducer was controlled independently for generating a twin trap and manipulation of a micromotor in 3D space. This study shows that the ultrasonic manipulation device using active traveling waves is a versatile tool that can be used for precise manipulation of a micromotor inserted in a human body and targeted for drug delivery.

ACS Style

Hiep Cao; Daewon Jung; Han-Sol Lee; Gwangjoon Go; Minghui Nan; Eunpyo Choi; Chang-Sei Kim; Jong-Oh Park; Byungjeon Kang. Micromotor Manipulation Using Ultrasonic Active Traveling Waves. Micromachines 2021, 12, 192 .

AMA Style

Hiep Cao, Daewon Jung, Han-Sol Lee, Gwangjoon Go, Minghui Nan, Eunpyo Choi, Chang-Sei Kim, Jong-Oh Park, Byungjeon Kang. Micromotor Manipulation Using Ultrasonic Active Traveling Waves. Micromachines. 2021; 12 (2):192.

Chicago/Turabian Style

Hiep Cao; Daewon Jung; Han-Sol Lee; Gwangjoon Go; Minghui Nan; Eunpyo Choi; Chang-Sei Kim; Jong-Oh Park; Byungjeon Kang. 2021. "Micromotor Manipulation Using Ultrasonic Active Traveling Waves." Micromachines 12, no. 2: 192.

Journal article
Published: 22 December 2020 in IEEE Transactions on Biomedical Engineering
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Objective: For the revascularization in small vessels such as coronary arteries, we present a guide-wired helical microrobot mimicking the corkscrew motion for mechanical atherectomy that enables autonomous therapeutics and minimizing the radiation exposure to clinicians. Methods: The microrobot is fabricated with a spherical joint and a guidewire. A previously developed external electromagnetic manipulation system capable of high power and frequency is incorporated and an autonomous guidance motion control including driving and steering is implemented in the prototype. We tested the validity of our approach in animal experiments under clinical settings. For the in vivo test, artificial thrombus was fabricated and placed in a small vessel and atherectomy procedures were conducted. Results: The devised approach enables us to navigate the helical robot to the target area and successfully unclog the thrombosis in rat models in vivo. Conclusion: This technology overcomes several limitations associated with a small vessel environment and promises to advance medical microrobotics for real clinical applications while achieving intact operation and minimizing radiation exposures to clinicians. Significance: Advanced microrobot based on multi-discipline technology could be validated in vivo for the first time and that may foster the microrobot application at clinical sites.

ACS Style

Kim Tien Nguyen; Seok-Jae Kim; Huyn-Ki Min; Manh Cuong Hoang; Gwangjun Go; Byungjeon Kang; Jayoung Kim; Eunpyo Choi; Ayoung Hong; Jong-Oh Park; Chang-Sei Kim. Guide-Wired Helical Microrobot for Percutaneous Revascularization in Chronic Total Occlusion in-Vivo Validation. IEEE Transactions on Biomedical Engineering 2020, 68, 2490 -2498.

AMA Style

Kim Tien Nguyen, Seok-Jae Kim, Huyn-Ki Min, Manh Cuong Hoang, Gwangjun Go, Byungjeon Kang, Jayoung Kim, Eunpyo Choi, Ayoung Hong, Jong-Oh Park, Chang-Sei Kim. Guide-Wired Helical Microrobot for Percutaneous Revascularization in Chronic Total Occlusion in-Vivo Validation. IEEE Transactions on Biomedical Engineering. 2020; 68 (8):2490-2498.

Chicago/Turabian Style

Kim Tien Nguyen; Seok-Jae Kim; Huyn-Ki Min; Manh Cuong Hoang; Gwangjun Go; Byungjeon Kang; Jayoung Kim; Eunpyo Choi; Ayoung Hong; Jong-Oh Park; Chang-Sei Kim. 2020. "Guide-Wired Helical Microrobot for Percutaneous Revascularization in Chronic Total Occlusion in-Vivo Validation." IEEE Transactions on Biomedical Engineering 68, no. 8: 2490-2498.

Journal article
Published: 21 November 2020 in Micromachines
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Targeted drug delivery (TDD) based on magnetic nanoparticles (MNPs) and external magnetic actuation is a promising drug delivery technology compared to conventional treatments usually utilized in cancer therapy. However, the implementation of a TDD system at a clinical site based on considerations for the actual size of the human body requires a simplified structure capable of both external actuation and localization. To address these requirements, we propose a novel approach to localize drug carriers containing MNPs by manipulating the field-free point (FFP) mechanism in the principal magnetic field. To this end, we devise a versatile electromagnetic actuation (EMA) system for FFP generation based on four coils affixed to a movable frame. By the Biot–Savart law, the FFP can be manipulated by appropriately controlling the gradient field strength at the target area using the EMA system. Further, weighted-norm solutions are utilized to correct the positions of FFP to improve the accuracy of FFP displacement in the region of interest (ROI). As MNPs, ferrofluid is used to experiment with 2D and 3D localizations in a blocked phantom placed in the designed ROI. The resultant root mean square error of the localizations is observed to be approximately 1.4 mm in the 2D case and 1.6 mm in the 3D case. Further, the proposed movable EMA is verified to be capable of simultaneously scanning multiple points as well as the actuation and imaging of MNPs. Based on the success of the experiments in this study, further research is intended to be conducted in scale-up system development to design precise TDD systems at clinical sites.

ACS Style

Chan Kim; Jayoung Kim; Jong-Oh Park; Eunpyo Choi; Chang-Sei Kim. Localization and Actuation for MNPs Based on Magnetic Field-Free Point: Feasibility of Movable Electromagnetic Actuations. Micromachines 2020, 11, 1020 .

AMA Style

Chan Kim, Jayoung Kim, Jong-Oh Park, Eunpyo Choi, Chang-Sei Kim. Localization and Actuation for MNPs Based on Magnetic Field-Free Point: Feasibility of Movable Electromagnetic Actuations. Micromachines. 2020; 11 (11):1020.

Chicago/Turabian Style

Chan Kim; Jayoung Kim; Jong-Oh Park; Eunpyo Choi; Chang-Sei Kim. 2020. "Localization and Actuation for MNPs Based on Magnetic Field-Free Point: Feasibility of Movable Electromagnetic Actuations." Micromachines 11, no. 11: 1020.

Journal article
Published: 30 October 2020 in Actuators
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Untethered small-scale soft robots have been widely researched because they can be employed to perform wireless procedures via natural orifices in the human body, or other minimally invasive operations. Nevertheless, achieving untethered robotic motion remains challenging owing to the lack of an effective wireless actuation mechanism. To overcome this limitation, we propose a magnetically actuated walking soft robot based on paper and a chained magnetic-microparticle-embedded polymer actuator. The magnetic polymer actuator was prepared by combining Fe3O4 magnetic particles (MPs, diameter of ~50 nm) and silicon that are affected by a magnetic field; thereafter, the magnetic properties were quantified to achieve proper force and optimized according to the mass ratio, viscosity, and rotational speed of a spin coater. The fabricated polymer was utilized as a soft robot actuator that can be controlled using an external magnetic field, and paper was employed to construct the robot body with legs to achieve walking motion. To confirm the feasibility of the designed robot, the operating capability of the robot was analyzed through finite element simulation, and a walking experiment was conducted using electromagnetic actuation. The soft robot could be moved by varying the magnetic flux density and on–off state, and it demonstrated a maximum moving speed of 0.77 mm/s. Further studies on the proposed soft walking robot may advance the development of small-scale robots with diagnostic and therapeutic functionalities for application in biomedical fields.

ACS Style

Han-Sol Lee; Yong-Uk Jeon; In-Seong Lee; Jin-Yong Jeong; Manh Hoang; Ayoung Hong; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. Wireless Walking Paper Robot Driven by Magnetic Polymer Actuator. Actuators 2020, 9, 109 .

AMA Style

Han-Sol Lee, Yong-Uk Jeon, In-Seong Lee, Jin-Yong Jeong, Manh Hoang, Ayoung Hong, Eunpyo Choi, Jong-Oh Park, Chang-Sei Kim. Wireless Walking Paper Robot Driven by Magnetic Polymer Actuator. Actuators. 2020; 9 (4):109.

Chicago/Turabian Style

Han-Sol Lee; Yong-Uk Jeon; In-Seong Lee; Jin-Yong Jeong; Manh Hoang; Ayoung Hong; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. 2020. "Wireless Walking Paper Robot Driven by Magnetic Polymer Actuator." Actuators 9, no. 4: 109.

Journal article
Published: 09 October 2020 in Sensors
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Recently an active locomotive capsule endoscope (CE) for diagnosis and treatment in the digestive system has been widely studied. However, real-time localization to achieve precise feedback control and record suspicious positioning in the intestine is still challenging owing to the limitation of capsule size, relatively large diagnostic volume, and compatibility of other devices in clinical site. To address this issue, we present a novel robotic localization sensing methodology based on the kinematics of a planar cable driven parallel robot (CDPR) and measurements of the quasistatic magnetic field of a Hall effect sensor (HES) array. The arrangement of HES and the Levenberg-Marquardt (LM) algorithm are applied to estimate the position of the permanent magnet (PM) in the CE, and the planar CDPR is incorporated to follow the PM in the CE. By tracking control of the planar CDPR, the position of PM in any arbitrary position can be obtained through robot forward kinematics with respect to the global coordinates at the bedside. The experimental results show that the root mean square error (RMSE) for the estimated position value of PM was less than 1.13 mm in the X, Y, and Z directions and less than 1.14° in the θ and φ orientation, where the sensing space could be extended to ±70 mm for the given 34 × 34 mm2 HES array and the average moving distance in the Z-direction is 40 ± 2.42 mm. The proposed method of the robotic sensing with HES and CDPR may advance the sensing space expansion technology by utilizing the provided single sensor module of limited sensible volume.

ACS Style

Min-Cheol Kim; Eui-Sun Kim; Jong-Oh Park; Eunpyo Choi; Chang-Sei Kim. Robotic Localization Based on Planar Cable Robot and Hall Sensor Array Applied to Magnetic Capsule Endoscope. Sensors 2020, 20, 5728 .

AMA Style

Min-Cheol Kim, Eui-Sun Kim, Jong-Oh Park, Eunpyo Choi, Chang-Sei Kim. Robotic Localization Based on Planar Cable Robot and Hall Sensor Array Applied to Magnetic Capsule Endoscope. Sensors. 2020; 20 (20):5728.

Chicago/Turabian Style

Min-Cheol Kim; Eui-Sun Kim; Jong-Oh Park; Eunpyo Choi; Chang-Sei Kim. 2020. "Robotic Localization Based on Planar Cable Robot and Hall Sensor Array Applied to Magnetic Capsule Endoscope." Sensors 20, no. 20: 5728.

Journal article
Published: 17 August 2020 in Sensors and Actuators B: Chemical
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The concept of an active drug delivery and controlled drug release using microrobot system has attracted attention over the past decade. However, developing these microrobot system is hindered by the low drug release rate upon external stimuli, such as an alternating magnetic field or light, with a long stimulation period (>40% release upon 10 min stimulation). This study evaluated using self-rolled helical microrobots to provide a controlled drug delivery system that uses magnetic manipulation and provides for highly efficient drug release. The rapid and simple fabrication of helical microrobots that change shape upon exposure to protic/aprotic stimuli was demonstrated using a single-layer self-folding technique. The self-folded helical microrobots navigated in the desired direction using a rotating magnetic field produced by an electromagnetic actuator. After arrival at the target location, non-covalently bonded anti-cancer drugs were released during a short period of ultrasound stimulation. The results demonstrate that, with 1 min of ultrasound stimulation, more than 90% of drug release was achieved. This efficient drug release system could enable the practical application of a microrobot-based drug delivery system.

ACS Style

Bobby Aditya Darmawan; Sang Bong Lee; Van Du Nguyen; Gwangjun Go; Kim Tien Nguyen; Han-Sol Lee; Minghui Nan; Ayoung Hong; Chang-Sei Kim; Hao Li; Doyeon Bang; Jong-Oh Park; Eunpyo Choi. Self-folded microrobot for active drug delivery and rapid ultrasound-triggered drug release. Sensors and Actuators B: Chemical 2020, 324, 128752 .

AMA Style

Bobby Aditya Darmawan, Sang Bong Lee, Van Du Nguyen, Gwangjun Go, Kim Tien Nguyen, Han-Sol Lee, Minghui Nan, Ayoung Hong, Chang-Sei Kim, Hao Li, Doyeon Bang, Jong-Oh Park, Eunpyo Choi. Self-folded microrobot for active drug delivery and rapid ultrasound-triggered drug release. Sensors and Actuators B: Chemical. 2020; 324 ():128752.

Chicago/Turabian Style

Bobby Aditya Darmawan; Sang Bong Lee; Van Du Nguyen; Gwangjun Go; Kim Tien Nguyen; Han-Sol Lee; Minghui Nan; Ayoung Hong; Chang-Sei Kim; Hao Li; Doyeon Bang; Jong-Oh Park; Eunpyo Choi. 2020. "Self-folded microrobot for active drug delivery and rapid ultrasound-triggered drug release." Sensors and Actuators B: Chemical 324, no. : 128752.

Journal article
Published: 05 August 2020 in Sensors and Actuators B: Chemical
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There are challenges in developing practically viable biopolymer-based actuators with ecofriendly, biocompatible, and biodegradable functionalities. Therefore, we propose a cellulose acetate (CA)-based ecofriendly soft-ionic networking actuator consisting of multifunctional additive polyvinylidene difluoride (PVDF), highly conductive ammonia-functionalized graphene nanoplatelets (AFGNPs), ionic liquids (IL), and flexible conducting polymer poly(3,4-ethylenedioxuthiopene)-polystyrene sulfonate (PEDOT:PSS) as an electrode. The proposed actuator exhibits a large bending displacement and short response time in an open-air environment, resulting from its enhanced electro-chemo-mechanical properties and strong ionic and interfacial interactions. In comparison with CA/PVDF-IL actuator, the CA/PVDF–IL–AFGNPs actuator demonstrates a considerably increased IL uptake and ion-exchange capacity of up to 71.04% and 300.6%, respectively, and an increase in the specific capacitance by over 3.64 times, which lead to bending actuation performances 2.21 and 1.87 times greater, respectively, under AC (4 V) and DC (4 V). Moreover, we demonstrate that a CA/PVDF–IL–AFGNPs actuator with a hierarchical structure shows values that are 1.32, 1.5, and 1.74 times larger than those of a planar actuator in DC (4 V), AC (3 V), and blocking force (4 V), respectively. The developed high-performance CA/PVDF–AFGNPs and the hierarchical surface texture of the patterned CA/PVDF–IL–AFGNPs actuators present these extraordinary achievements together with environmentally friendly materials, a low driving voltage, easy manufacturing, and high actuation performances. Therefore, they can be candidates for human-friendly products (e.g., biomedical devices, bioinspired robots, and soft haptic devices).

ACS Style

Minghui Nan; Doyeon Bang; Shirong Zheng; Gwangjun Go; Bobby Aditya Darmawan; Seokjae Kim; Hao Li; Chang-Sei Kim; Ayoung Hong; Fan Wang; Jong-Oh Park; Eunpyo Choi. High-performance biocompatible nanobiocomposite artificial muscles based on ammonia-functionalized graphene nanoplatelets–cellulose acetate combined with PVDF. Sensors and Actuators B: Chemical 2020, 323, 128709 .

AMA Style

Minghui Nan, Doyeon Bang, Shirong Zheng, Gwangjun Go, Bobby Aditya Darmawan, Seokjae Kim, Hao Li, Chang-Sei Kim, Ayoung Hong, Fan Wang, Jong-Oh Park, Eunpyo Choi. High-performance biocompatible nanobiocomposite artificial muscles based on ammonia-functionalized graphene nanoplatelets–cellulose acetate combined with PVDF. Sensors and Actuators B: Chemical. 2020; 323 ():128709.

Chicago/Turabian Style

Minghui Nan; Doyeon Bang; Shirong Zheng; Gwangjun Go; Bobby Aditya Darmawan; Seokjae Kim; Hao Li; Chang-Sei Kim; Ayoung Hong; Fan Wang; Jong-Oh Park; Eunpyo Choi. 2020. "High-performance biocompatible nanobiocomposite artificial muscles based on ammonia-functionalized graphene nanoplatelets–cellulose acetate combined with PVDF." Sensors and Actuators B: Chemical 323, no. : 128709.

Journal article
Published: 28 July 2020 in IEEE Access
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Recent research efforts regarding advanced Robotic Capsule Endoscopes (RCEs) have primarily focused on the development of actively locomotive endoscope capsules. However, accurate movement of an RCE inside the digestive organs remains a challenge that hinders the further development of an autonomous RCE that with applicability in clinical practice. To address this challenge, this study proposed and developed a novel three-dimensional (3D) location positioning method that is compatible with an RCE manipulated by an external magnetic actuation system. The developed localization methodology employed one embedded single-axis receiving coil (Rx) in the RCE and three external transmitting coils (Txs) placed under the clinical bed. The magnetic flux density obtained from the electromotive force at the Rx was applied to the solution of 3D nonlinear Biot–Savart equations and enabled the determination of the position of the Rx in relation to the corresponding magnetoquasistatic field source in the Tx. For implementation, this study developed: (1) an accurate mathematical model and volumetric analysis method for the magnetoquasistatic field by applying equipotential contour and surface mapping, (2) a method to determine the optimal Tx arrangement, and (3) a prototyped device and in-vitro validation of the feasibility of the 3D localization. In the helical trajectory tracking experiment, the device demonstrated an error of 2.03 ± 1.14 mm, and the feasibility in the clinical environment was verified through gastrointestinal phantom experiments. The proposed method will be further evaluated clinically for the retargeting and accurate localization of internal pathologies as well as the closed-loop control of an actively locomotive RCE.

ACS Style

Si-Liang Liu; Jayoung Kim; Byungjeon Kang; Eunpyo Choi; Ayoung Hong; Jong-Oh Park; Chang-Sei Kim. Three-Dimensional Localization of a Robotic Capsule Endoscope Using Magnetoquasistatic Field. IEEE Access 2020, 8, 141159 -141169.

AMA Style

Si-Liang Liu, Jayoung Kim, Byungjeon Kang, Eunpyo Choi, Ayoung Hong, Jong-Oh Park, Chang-Sei Kim. Three-Dimensional Localization of a Robotic Capsule Endoscope Using Magnetoquasistatic Field. IEEE Access. 2020; 8 (99):141159-141169.

Chicago/Turabian Style

Si-Liang Liu; Jayoung Kim; Byungjeon Kang; Eunpyo Choi; Ayoung Hong; Jong-Oh Park; Chang-Sei Kim. 2020. "Three-Dimensional Localization of a Robotic Capsule Endoscope Using Magnetoquasistatic Field." IEEE Access 8, no. 99: 141159-141169.

Journal article
Published: 26 June 2020 in Pharmaceutics
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Recently, significant research efforts have been devoted toward the development of magnetically controllable drug delivery systems, however, drug fixation after targeting remains a challenge hindering long-term therapeutic efficacy. To overcome this issue, we present a wearable therapeutic fixation device for fixing magnetically controllable therapeutic agent carriers (MCTACs) at defect sites and its application to cartilage repair using stem cell therapeutics. The developed device comprises an array of permanent magnets based on the Halbach array principle and a wearable band capable of wrapping the target body. The design of the permanent magnet array, in terms of the number of magnets and array configuration, was determined through univariate search optimization and 3D simulation. The device was fabricated for a given rat model and yielded a strong magnetic flux density (exceeding 40 mT) in the region of interest that was capable of fixing the MCTAC at the desired defect site. Through in-vitro and in-vivo experiments, we successfully demonstrated that MCTACs, both a stem cell spheroid and a micro-scaffold for cartilage repair, could be immobilized at defect sites. This research is expected to advance precise drug delivery technology based on MCTACs, enabling subject-specific routine life therapeutics. Further studies involving the proposed wearable fixation device will be conducted considering prognostics under actual clinical settings.

ACS Style

Kyungmin Lee; Gwangjun Go; Ami Yoo; Byungjeon Kang; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. Wearable Fixation Device for a Magnetically Controllable Therapeutic Agent Carrier: Application to Cartilage Repair. Pharmaceutics 2020, 12, 593 .

AMA Style

Kyungmin Lee, Gwangjun Go, Ami Yoo, Byungjeon Kang, Eunpyo Choi, Jong-Oh Park, Chang-Sei Kim. Wearable Fixation Device for a Magnetically Controllable Therapeutic Agent Carrier: Application to Cartilage Repair. Pharmaceutics. 2020; 12 (6):593.

Chicago/Turabian Style

Kyungmin Lee; Gwangjun Go; Ami Yoo; Byungjeon Kang; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. 2020. "Wearable Fixation Device for a Magnetically Controllable Therapeutic Agent Carrier: Application to Cartilage Repair." Pharmaceutics 12, no. 6: 593.

Journal article
Published: 22 February 2020 in Control Engineering Practice
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This paper proposes a regularization-based independent electromagnetic field control methodology of an external electromagnetic actuator (EMA) for untethered medical microrobot manipulation. The EMA developed in this study consists of six stationary air-filled coils in an orthogonal configuration to generate a 3-dimensional (3-D) gradient magnetic field. Each air-cored coil is considered as a magnetic dipole actuator and independently control it with other coils. However, the independent electromagnetic coil controller derived by a linear combination of magnetic fields often causes an unexpected singularity problem while obtaining input current via inverse electromagnetic field models. This results in a power overshoot and uncontrollable motion of a micro-object along specific orientations in 3-D space. Hence, a novel control approach based on the regularization of singular value decomposition (SVD) is proposed to solve the singularity problem while providing the optimal current input to electromagnets. Initially, electromagnetic field models are derived, simulated, and analyzed for controller design. In the next stage, the regularization-based independent coil controller is obtained numerically and verified experimentally. These methods enable spatial manipulation of a micro-object using six stationary electromagnets in an electromagnetic navigation system (ENS) with enough force and avoids singularity. Simulations and experiments were conducted and could verify the effectiveness of the proposed control method by avoiding singularities in magnetic field control with minimum number of coils.

ACS Style

Kim Tien Nguyen; Manh Cuong Hoang; Gwangjun Go; Byungjeon Kang; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. Regularization-based independent control of an external electromagnetic actuator to avoid singularity in the spatial manipulation of a microrobot. Control Engineering Practice 2020, 97, 104340 .

AMA Style

Kim Tien Nguyen, Manh Cuong Hoang, Gwangjun Go, Byungjeon Kang, Eunpyo Choi, Jong-Oh Park, Chang-Sei Kim. Regularization-based independent control of an external electromagnetic actuator to avoid singularity in the spatial manipulation of a microrobot. Control Engineering Practice. 2020; 97 ():104340.

Chicago/Turabian Style

Kim Tien Nguyen; Manh Cuong Hoang; Gwangjun Go; Byungjeon Kang; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. 2020. "Regularization-based independent control of an external electromagnetic actuator to avoid singularity in the spatial manipulation of a microrobot." Control Engineering Practice 97, no. : 104340.

Journal article
Published: 14 February 2020 in IEEE/ASME Transactions on Mechatronics
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This study presents a novel design and a control methodology for an electromagnetic actuation (EMA) system that can generate a high-frequency and high-powered electromagnetic field for enhanced electromagnetic torque and force. The proposed system consists of a two-stage resonance effect control circuit utilizing resonant effects and an automatic capacitance switching method matching the desired frequency. The first resonant effect control stage, which is called the series resonance, is comprised of various capacitors connected with the EMA system, and is designed to compensate for rapid impedance change and phase delay. The second resonant effect control stage, which is called the current-amplified resonant circuit, is integrated to amplify coil currents for high-frequency operation. In addition, the automatically controllable continuous capacitance switching method is proposed to enhance the magnetic field with respect to the desired operating frequency in a wide range. Finally, the resonance control system is applied to the conventional EMA system. In-vitro experiments were conducted on three-dimensional locomotion and a drilling motion control for a helical-shaped microrobot. Both simulation and experimental results showed a significant improvement in the microrobot locomotion ability, speed (235%), and driving force (900%) with respect to the conventional design. The developed EMA control circuit and algorithm can magnify the input current nearly twice the conventional EMA system and extend the operating frequency to a maximum of 370 Hz.

ACS Style

Kim Tien Nguyen; Byungjeon Kang; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. High-Frequency and High-Powered Electromagnetic Actuation System Utilizing Two-Stage Resonant Effects. IEEE/ASME Transactions on Mechatronics 2020, 25, 2398 -2408.

AMA Style

Kim Tien Nguyen, Byungjeon Kang, Eunpyo Choi, Jong-Oh Park, Chang-Sei Kim. High-Frequency and High-Powered Electromagnetic Actuation System Utilizing Two-Stage Resonant Effects. IEEE/ASME Transactions on Mechatronics. 2020; 25 (5):2398-2408.

Chicago/Turabian Style

Kim Tien Nguyen; Byungjeon Kang; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. 2020. "High-Frequency and High-Powered Electromagnetic Actuation System Utilizing Two-Stage Resonant Effects." IEEE/ASME Transactions on Mechatronics 25, no. 5: 2398-2408.

Journal article
Published: 22 January 2020 in Science Robotics
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Targeted cell delivery by a magnetically actuated microrobot with a porous structure is a promising technique to enhance the low targeting efficiency of mesenchymal stem cell (MSC) in tissue regeneration. However, the relevant research performed to date is only in its proof-of-concept stage. To use the microrobot in a clinical stage, biocompatibility and biodegradation materials should be considered in the microrobot, and its efficacy needs to be verified using an in vivo model. In this study, we propose a human adipose–derived MSC–based medical microrobot system for knee cartilage regeneration and present an in vivo trial to verify the efficacy of the microrobot using the cartilage defect model. The microrobot system consists of a microrobot body capable of supporting MSCs, an electromagnetic actuation system for three-dimensional targeting of the microrobot, and a magnet for fixation of the microrobot to the damaged cartilage. Each component was designed and fabricated considering the accessibility of the patient and medical staff, as well as clinical safety. The efficacy of the microrobot system was then assessed in the cartilage defect model of rabbit knee with the aim to obtain clinical trial approval.

ACS Style

Gwangjun Go; Sin-Gu Jeong; Ami Yoo; Jiwon Han; Byungjeon Kang; Seokjae Kim; Kim Tien Nguyen; Zhen Jin; Chang-Sei Kim; Yu Ri Seo; Ju Yeon Kang; Ju Yong Na; Eun Kyoo Song; Yongyeon Jeong; Jong Keun Seon; Jong-Oh Park; Eunpyo Choi. Human adipose–derived mesenchymal stem cell–based medical microrobot system for knee cartilage regeneration in vivo. Science Robotics 2020, 5, eaay6626 .

AMA Style

Gwangjun Go, Sin-Gu Jeong, Ami Yoo, Jiwon Han, Byungjeon Kang, Seokjae Kim, Kim Tien Nguyen, Zhen Jin, Chang-Sei Kim, Yu Ri Seo, Ju Yeon Kang, Ju Yong Na, Eun Kyoo Song, Yongyeon Jeong, Jong Keun Seon, Jong-Oh Park, Eunpyo Choi. Human adipose–derived mesenchymal stem cell–based medical microrobot system for knee cartilage regeneration in vivo. Science Robotics. 2020; 5 (38):eaay6626.

Chicago/Turabian Style

Gwangjun Go; Sin-Gu Jeong; Ami Yoo; Jiwon Han; Byungjeon Kang; Seokjae Kim; Kim Tien Nguyen; Zhen Jin; Chang-Sei Kim; Yu Ri Seo; Ju Yeon Kang; Ju Yong Na; Eun Kyoo Song; Yongyeon Jeong; Jong Keun Seon; Jong-Oh Park; Eunpyo Choi. 2020. "Human adipose–derived mesenchymal stem cell–based medical microrobot system for knee cartilage regeneration in vivo." Science Robotics 5, no. 38: eaay6626.

Article
Published: 22 January 2020 in International Journal of Control, Automation and Systems
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Intuitive remote multiple degrees of freedom (DOF) robot control has distinct advantages in field robotics applications, especially for a cable-driven parallel robot (CDPR) capable of operating in a wide workspace with a heavy payload. This study proposes a novel intuitive teleoperation method for a CDPR, in which a remote CDPR is teleoperated by a local CDPR driven by a human. The proposed system comprises a master CDPR in the operating room, a slave CDPR in the workplace, wireless communication between the master and slave CDPRs, and an admittance control to realize the haptic force to the master CDPR. The master CDPR transmits the Cartesian posture command, based on an operator’s manipulation, to the slave CDPR, and the slave CDPR’s wrench force obtained through the cable tension measurement is fed back to the master CDPR. For validation, two CDPRs in different locations (approximately 7.46 km apart) are utilized; a mini-size CDPR is used as the master device and a grand-size CDPR is used as the slave robot. The experimental results demonstrate that the operator can fully control the slave robot’s six DOF motions with spatial force feeling in hand, and satisfactory synchronized movements of the two CDPRs at a distance could be performed. Also, a preliminary experimental result of the proposed wrench feedback method is discussed. The proposed method has practical benefits in field robotics applications in unmanned and hazardous workspaces, such as nuclear power plants and space, which require long-distance remote manipulation at different locations.

ACS Style

Hongseok Choi; Jinlong Piao; Eui-Sun Kim; Jinwoo Jung; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. Intuitive Bilateral Teleoperation of a Cable-driven Parallel Robot Controlled by a Cable-driven Parallel Robot. International Journal of Control, Automation and Systems 2020, 18, 1792 -1805.

AMA Style

Hongseok Choi, Jinlong Piao, Eui-Sun Kim, Jinwoo Jung, Eunpyo Choi, Jong-Oh Park, Chang-Sei Kim. Intuitive Bilateral Teleoperation of a Cable-driven Parallel Robot Controlled by a Cable-driven Parallel Robot. International Journal of Control, Automation and Systems. 2020; 18 (7):1792-1805.

Chicago/Turabian Style

Hongseok Choi; Jinlong Piao; Eui-Sun Kim; Jinwoo Jung; Eunpyo Choi; Jong-Oh Park; Chang-Sei Kim. 2020. "Intuitive Bilateral Teleoperation of a Cable-driven Parallel Robot Controlled by a Cable-driven Parallel Robot." International Journal of Control, Automation and Systems 18, no. 7: 1792-1805.

Journal article
Published: 17 January 2020 in Micromachines
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Capsule endoscopes (CEs) have emerged as an advanced diagnostic technology for gastrointestinal diseases in recent decades. However, with regard to robotic motions, they require active movability and multi-functionalities for extensive, untethered, and precise clinical utilization. Herein, we present a novel wireless biopsy CE employing active five degree-of-freedom locomotion and a biopsy needle punching mechanism for the histological analysis of the intestinal tract. A medical biopsy punch is attached to a screw mechanism, which can be magnetically actuated to extrude and retract the biopsy tool, for tissue extraction. The external magnetic field from an electromagnetic actuation (EMA) system is utilized to actuate the screw mechanism and harvest biopsy tissue; therefore, the proposed system consumes no onboard energy of the CE. This design enables observation of the biopsy process through the capsule’s camera. A prototype with a diameter of 12 mm and length of 30 mm was fabricated with a medical biopsy punch having a diameter of 1.5 mm. Its performance was verified through numerical analysis, as well as in-vitro and ex-vivo experiments on porcine intestine. The CE could be moved to target lesions and obtain sufficient tissue samples for histological examination. The proposed biopsy CE mechanism utilizing punch biopsy and its wireless extraction–retraction technique can advance untethered intestinal endoscopic capsule technology at clinical sites.

ACS Style

Manh Cuong Hoang; Viet Ha Le; Kim Tien Nguyen; Van Du Nguyen; Jayoung Kim; Eunpyo Choi; Seungmin Bang; Byungjeon Kang; Jong-Oh Park; Chang-Sei Kim. A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy Punch. Micromachines 2020, 11, 98 .

AMA Style

Manh Cuong Hoang, Viet Ha Le, Kim Tien Nguyen, Van Du Nguyen, Jayoung Kim, Eunpyo Choi, Seungmin Bang, Byungjeon Kang, Jong-Oh Park, Chang-Sei Kim. A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy Punch. Micromachines. 2020; 11 (1):98.

Chicago/Turabian Style

Manh Cuong Hoang; Viet Ha Le; Kim Tien Nguyen; Van Du Nguyen; Jayoung Kim; Eunpyo Choi; Seungmin Bang; Byungjeon Kang; Jong-Oh Park; Chang-Sei Kim. 2020. "A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy Punch." Micromachines 11, no. 1: 98.

Article
Published: 28 November 2019 in International Journal of Control, Automation and Systems
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To achieve precise and untethered clinical therapeutics, microrobots have been widely researched. However, because conventional microrobot actuation is based on magnetic forces generated by a magnetic field and magnetic particles, unexpected side effects caused by additional magnetic ingredients could induce clinical safety issues. In this paper, as an alternative to an untethered actuator, we present a novel ultrasonic actuation mechanism that enables drug particle/cell manipulation and micro/nano-robot actuation in clinical biology and medicine. Firstly, characteristics of the acoustic field in the vessel mimic circular tube, formed from particles emerging through a submerged ultrasonic transducer, are mathematically analyzed and modeled. Thereafter, a control method is proposed for trapping and moving the micro-particles by using acoustic radiation force (ARF) in a standing wave of a tangential standing wave. The feasibility of the proposed method could be demonstrated with the help of experiments conducted using a single transducer with a resonance frequency of 950 kHz and a motorized linear stage, which were used in a water tank. The micro-particles in the tube were trapped via ultrasound and the position of the micro-particles could be controlled by frequency manipulation of the transducer and motor control. This study shows that ultrasonic manipulation can be used for specific applications, such as the operation of a micro robot inserted in a peripheral blood vessel and targeted for drug delivery.

ACS Style

Han-Sol Lee; Gwangjun Go; Eunpyo Choi; Byungjeon Kang; Jong-Oh Park; Chang-Sei Kim. Medical Microrobot - Wireless Manipulation of a Drug Delivery Carrier through an External Ultrasonic Actuation: Preliminary Results. International Journal of Control, Automation and Systems 2019, 18, 175 -185.

AMA Style

Han-Sol Lee, Gwangjun Go, Eunpyo Choi, Byungjeon Kang, Jong-Oh Park, Chang-Sei Kim. Medical Microrobot - Wireless Manipulation of a Drug Delivery Carrier through an External Ultrasonic Actuation: Preliminary Results. International Journal of Control, Automation and Systems. 2019; 18 (1):175-185.

Chicago/Turabian Style

Han-Sol Lee; Gwangjun Go; Eunpyo Choi; Byungjeon Kang; Jong-Oh Park; Chang-Sei Kim. 2019. "Medical Microrobot - Wireless Manipulation of a Drug Delivery Carrier through an External Ultrasonic Actuation: Preliminary Results." International Journal of Control, Automation and Systems 18, no. 1: 175-185.