体腔移動ロボットに搭載する薬物送達機能

抄録

To perform minimally invasive surgeries, state-of-the-art medical technologies are required. This study aims to realize a robot that delivers drugs to the body cavity of a diseased. We have developed a robot that is driven by a magnetic field force and can move in the abdominal cavity. A drug-delivery function that uses magnetic field force to inject and deliver drugs is equipped. We showed that the motion of our drug-delivery function in the cavity was expected by using a solenoid coil to generate a magnetic field. This mechanism injected a small amount of liquid only when a perpendicular magnetic field is applied to the robot. The study results clearly highlighted the need to control the magnetic field and optimize the size and shape of bag with medicinal liquid.