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Byungjeon Kang
Robotics Engineering Convergence, Chonnam National University, Gwangju 61186, Korea

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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: 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: 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.

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.

Article
Published: 23 September 2019 in International Journal of Control, Automation and Systems
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This paper presents a robotic capsule endoscope integrated a targeted drug delivery module (DDM) for digestive diseases treatments. The capsule with a big permanent magnet inside is wirelessly controlled and actively moves to target region in gastrointestinal tract by an electromagnetic actuation system (EMA). DDM is a separated body composed of a drug container and a non-power drug-releasing mechanism. The force to expel drug is generated by carbon dioxide gas pressure coming from a chemical reaction inside a propellant reservoir. Where the chemical reaction is activated by a mechanical mechanism that allows dry chemical powders contacting with water at the target point. A small permanent magnet is utilized to separate reagents and wet paper before drug injection. It is designed to be stable during locomotion by virtue of the attractive force of a big permanent magnet. To trigger releasing mechanism, gradient magnetic field from EMA system is created to push small magnet slide down, which allows reagents drop and contact with water in wet paper. The designed DDM has length of 11 mm and diameter of 11 mm. The proposed robotic capsule could show high potentials to be utilized for therapeutic treatment of digestive diseases in practical clinical sites through simulation and ex-vivo experiments.

ACS Style

Kim Tien Nguyen; Manh Cuong Hoang; Eunpyo Choi; Byungjeon Kang; Jong-Oh Park; Chang-Sei Kim. Medical Microrobot — A Drug Delivery Capsule Endoscope with Active Locomotion and Drug Release Mechanism: Proof of Concept. International Journal of Control, Automation and Systems 2019, 18, 65 -75.

AMA Style

Kim Tien Nguyen, Manh Cuong Hoang, Eunpyo Choi, Byungjeon Kang, Jong-Oh Park, Chang-Sei Kim. Medical Microrobot — A Drug Delivery Capsule Endoscope with Active Locomotion and Drug Release Mechanism: Proof of Concept. International Journal of Control, Automation and Systems. 2019; 18 (1):65-75.

Chicago/Turabian Style

Kim Tien Nguyen; Manh Cuong Hoang; Eunpyo Choi; Byungjeon Kang; Jong-Oh Park; Chang-Sei Kim. 2019. "Medical Microrobot — A Drug Delivery Capsule Endoscope with Active Locomotion and Drug Release Mechanism: Proof of Concept." International Journal of Control, Automation and Systems 18, no. 1: 65-75.