Mikrorobot Yönlendirme Sistemleri

Yıl 2021, Cilt: 2 Sayı: 1, 10 - 19, 02.07.2021

Özge Akbülbül , Mert Şener , Oğuz Gürses , Aysun Baltacı

Öz

Minimal invaziv cerrahi ile operasyonlar, geleneksel cerrahi işlemine göre daha küçük kesilerden yapılabilmektedir. Bu durumun, hastanın ameliyat sonrası iyileşme sürecine olumlu etkileri bulunmaktadır. Cerrahi operasyonlarda, cerrahın operasyon yapacağı bölgeye ulaşmakta ve işlem yapmakta zorlandığı kısımlarda, olumlu etkiyi arttırmak için mikrorobotların kullanımı üzerine çalışmalar yapılmaya başlanmıştır. Mikrorobotlar, doku, damar, organ gibi hassas yapılara mikro ölçekte müdahale edebilecek robotik sistemlerdir. Vücut içi uygulamalar için ilaç taşıma, örnek alma (hastalık tespiti), kesme, delme gibi işlemler konusunda kullanılabilecekleri öngörülmektedir. Mikrorobotların temassız ve bir arayüz vasıtasıyla kontrolü ile cerrahi işlemlerin standart bir hale gelmesi sağlanmasıyla cerrahi operasyonlarda komplikasyon riski azalacağı düşünülmektedir. Mikrorobotların temassız yönlendirilmesini sağlayan yönlendirme sistemleri, elektromanyetik sistemler (EMA) olarak adlandırılmıştır. Gelecekte cerrahi operasyonlarda kullanılacağı öngörülen mikrorobotların kontrolü elektromanyetik aktüatör sistemleriyle gerçekleştirilecektir. Bu sebeple, mikrorobotlar ve elektromanyetik aktüatörler hakkındaki güncel ilerlemeler araştırmacıların dikkatini çekmektedir. Bu derleme çalışması, mikrorobotlar ile mikrorobotları yönlendirmekte kullanılan elektromanyetik aktüatör sistemleri hakkında genel bilgi vermektedir.

Anahtar Kelimeler

Elektromanyetik Aktüatör, Mikrorobot, Manyetik Yönlendirme, Minimal İnvaziv Cerrahi

Microrobot Guidance Systems

Öz

With minimally invasive surgery, operations can be performed through smaller incisions compared to traditional surgical procedures. This situation has positive effects on the postoperative recovery process of the patient. In surgical operations, studies have begun on the use of microrobots in order to increase the positive effect in the parts where the surgeon has difficulty in reaching the area where the operation will be performed. Microrobots are robotic systems that can interfere with sensitive structures such as tissues, vessels and organs on a micro scale. It is anticipated that they can be used for operations such as drug transport, sampling (disease detection), cutting and drilling for intracorporeal applications. It is envisioned that the risk of complications in surgical operations will be reduced by ensuring that surgical procedures become standard with the control of microrobots without contact and through an interface. Guidance systems that provide contactless guidance of microrobots are called electromagnetic systems (EMA). The control of microrobots that are predicted to be used in surgical operations in the future will be performed by electromagnetic actuator systems. For this reason, current advances in microrobots and electromagnetic actuators are attracting the attention of researchers. This review provides general information about microrobots and electromagnetic actuator systems used to direct microrobots.

Anahtar Kelimeler

Electromagnetic Actuator, Microrobot, Magnetic Navigation, Minimally Invasive Surger

Kaynakça

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