Medical Microrobot - Wireless Manipulation of a Drug Delivery Carrier through an External Ultrasonic Actuation: Preliminary Results

  • Han-Sol Lee
  • Gwangjun Go
  • Eunpyo Choi
  • Byungjeon KangEmail author
  • Jong-Oh ParkEmail author
  • Chang-Sei KimEmail author


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.


Drug delivery medical microrobot ultrasonic actuation ultrasound wireless actuation 


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Copyright information

© ICROS, KIEE and Springer 2019

Authors and Affiliations

  1. 1.School of Mechanical EngineeringChonnam National UniversityGwangjuKorea
  2. 2.Korea Institute of Medical MicroroboticsGwangjuKorea

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