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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Magnetic Robot and Manipulation for Active-Locomotion With Targeted Drug Release
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Magnetic Robot and Manipulation for Active-Locomotion With Targeted Drug Release

机译：电磁机器人和操纵用于主动运动和定向药物释放

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摘要

In this paper, we propose a new mechanism for targeted drug release based on active locomotion. The manipulating method is a magnetic torque control based on a rotating magnetic field using a three-axis Helmholtz coil system. The applied magnetic field creates two rolling (radial and longitudinal directions) and a rotating motion for active locomotion according to variations in the working space and robot posture. Two spiral components in the robot mechanism and the rotating motion completely conduct and control the drug release. Magnetic attractive force between the two spiral components prevents drug leakage during the movement for targeting. When the robot arrives at the destination, the robot switches the direction of the thrust force of the two spiral components to separate the robot body for the drug release. The thrust force for the drug release is higher than the magnetic attractive force. We verified the rapid active locomotion and targeted drug release using precise control through various experiments. In our assessment, the proposed robot mechanism can realize the role of a functional medical robot for therapy and diagnosis.
机译：在本文中，我们提出了一种基于主动运动的靶向药物释放的新机制。操纵方法是使用三轴亥姆霍兹线圈系统基于旋转磁场的磁转矩控制。施加的磁场会根据工作空间和机器人姿势的变化而产生两个滚动（径向和纵向）和一个旋转运动，以进行主动运动。机械手机构中的两个螺旋组件和旋转运动完全传导并控制药物释放。两个螺旋组件之间的磁性吸引力可防止药物在靶向移动过程中泄漏。当机器人到达目的地时，机器人会切换两个螺旋组件的推力方向，以将机器人主体分开以释放药物。用于药物释放的推力高于磁性吸引力。我们通过各种实验通过精确控制验证了快速主动运动和靶向药物释放。在我们的评估中，提出的机器人机构可以实现功能性医疗机器人在治疗和诊断中的作用。

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