KR101080950B1 - Device for moving of microrobot - Google Patents

Abstract

The present invention relates to a moving device of a microrobot for moving an organic tube in a human body, and more particularly, to move in a non-invasive manner by using an additional propulsion force generated by converting a rotational movement into a linear movement while advancing in a spiral movement. It relates to a mobile device of a micro robot.

To this end, the present invention is a micromotor is inserted into the front end portion, the main body is formed with a linear guide formed in the longitudinal direction under the motor mounting portion; A rotary coupler to which the motor shaft of the micromotor is inserted and fixed; A rotation magnet having the rotary coupler inserted therein; A linear coupler having a guide rail fitted into the guide groove formed on an inner wall thereof; A linear magnet having the linear coupler inserted therein and having a linear reciprocating cycle equal to the rotation cycle of the micromotor due to the attraction and repulsive forces generated by the rotational movement of the rotation magnet; A limiter fixed to an end of the linear guide to limit a moving distance of the linear magnet; It provides a moving device of the microrobot, characterized in that it comprises a; spiral film is formed to circumscribe the rotation magnet to form one or more spiral ribs.

Micromotor, organ tube, cavercher, curvature, magnet

Description

Device for moving of microrobot

The present invention relates to a moving device of a microrobot for moving an organic tube in a human body, and more particularly, to move in a non-invasive manner by using an additional propulsion force generated by converting a rotational movement into a linear movement while advancing in a spiral movement. It relates to a mobile device of a micro robot.

Since the moving device of a micro robot moving an organic tube in the human body can be utilized in practical fields such as diagnosis and treatment of organs, active research is being conducted. Various types of microrobots have been proposed, ranging from sub-millimeter robots that can move through blood vessels, as well as endoscope robots that move around the gastrointestinal tract about 10 mm.

In particular, the capsule endoscope can be switched to a real-time diagnostic tool when the autonomous driving function is added, and various mechanisms of moving mechanisms are proposed. Passive clamping device that advances robot by holding barrier and linear driving is the most common. Passive radial type by simulating the method of reciprocating the clamper with micro hook by linear actuator using two SMA and the rowing principle. Pushing the barrier with the bridge and moving forward has been suggested.

In addition, as a mobile mechanism of colonoscopy, 2-3 clamps have been expanded to sequentially hold and advance the barrier.

In addition, electric stimulation has been suggested to promote peristalsis of the intestine or to move by reciprocating the biomimetic leg foldable.

The development of such a mobile robot can be a significant turning point in terms of moving within the human body, but it is impossible to commercialize it if it is possible to medically cause a potential risk to a subject such as a patient. It must be invasive.

However, the conventional microrobot moving device has a problem in that it may injure the organic tube because most of them use a clamping device such as a sharp spike or leg that directly stimulates the organic tube.

In order to solve this problem, a device for moving through the rotation of the spiral structure has been proposed in the related art, but it has a problem that the moving force of the microrobot is not sufficient because it uses the driving force by the interaction between the slime and the spiral structure.

In order to obtain high propulsion by itself, it is necessary to assume a sufficient tensile force of the organic tube or increase the number of revolutions. The tensile force continuously changes according to the surrounding environment, and the rotational speed may cause side effects such as twisting the tube.

The present invention has been invented to solve the above problems, while moving the organic tube by using a linear magnet to move the rotating magnet and the rotational movement to advance the linear reciprocating motion in a spiral motion, the drag according to the direction of movement It is an object of the present invention to provide a moving device of a micro robot that implements a clamping function using another spiral film.

In order to achieve the above object, the present invention provides a micromotor is inserted into the front end portion, the main body is formed with a linear guide formed in the longitudinal direction of the guide groove below the motor mounting portion; A rotary coupler to which the motor shaft of the micromotor is inserted and fixed; A rotation magnet having the rotary coupler inserted therein; A linear coupler having a guide rail fitted into the guide groove formed on an inner wall thereof; A linear magnet having the linear coupler inserted therein and having a linear reciprocating cycle equal to the rotation cycle of the micromotor due to the attraction and repulsive forces generated by the rotational movement of the rotation magnet; A limiter fixed to an end of the linear guide to limit a moving distance of the linear magnet; It provides a moving device of the microrobot, characterized in that it comprises a; spiral film is formed to circumscribe the rotation magnet to form one or more spiral ribs.

Preferably, the helical rib is formed as a small (curvature) in the forward direction of the rotation magnet and a large cavitation in the backward direction is characterized in that the friction degree according to the moving direction is formed differently,

More preferably, in order to continue the linear reciprocating motion of the linear magnet, the linear guide is formed with a length less than the maximum distance to ensure contact between the linear magnet and the rotation magnet by the attraction force between the linear magnet and the rotation magnet. ,

More preferably, a separate spiral film having a spiral rib symmetric to a curvature of a spiral rib of the spiral film circumscribed to the rotation magnet is installed externally to the limiter.

And, between the micromotor and the linear guide is characterized in that the safety plate is further configured to mitigate the impact caused by the linear reciprocating motion of the linear magnet,

In addition, the spiral film is characterized in that the rubber.

The moving device of the microrobot according to the present invention generates an additional propulsion force by moving forward and converting a rotational movement into a linear movement based on the spiral movement method, and generates a spiral rib formed with a curvature according to the moving direction. Through this non-invasive clamping function, a revolutionary autonomous movement in the organic tube is possible.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present disclosure, and the singular forms “a”, “an” and “the” include plural forms unless the context clearly indicates otherwise.

There may be a plurality of embodiments of the present invention, and overlapping descriptions of the same parts as in the prior art may be omitted.

The present invention is a linear movement of the rotational movement of the rotation magnet 200 using the linear magnet 300 is limited to freedom only linear reciprocating movement while the spiral movement based on the rotation magnet 200 coupled to the motor shaft It provides additional propulsive force by converting to and implements non-invasive clamping function by using spiral film 220 with different drag coefficient according to direction. .

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is an exploded perspective view showing a moving device of a micro robot according to the present invention, Figure 2 is a combined perspective view showing a moving device of a micro robot according to the present invention.

The microrobot moving device preferably implemented according to the present invention includes a cylindrical rotation magnet 200 that rotates greatly using the low power micromotor 140 and linear movement through the rotational movement of the rotation magnet 200. The linear guide 300 is provided with a cylindrical linear magnet 300, one or more spiral ribs 221 to circumscribe the rotation magnet 200, and a linear guide for limiting the freedom of movement of the linear magnet 300. It is comprised including the main body 100 which unites 110. As shown in FIG.

The linear guide 110 is provided by forming a guide groove 111 in the longitudinal direction of the cylindrical body in order to limit the degree of freedom so that the linear magnet 300 is only linear reciprocating movement, is integrally connected to the linear guide 110 The front end of the main body 100 is provided with a motor mounting portion 120 is inserted into the micromotor 140 for supplying a driving force for the rotational movement of the rotation magnet 200.

In addition, between the motor mounting portion 120 and the linear guide 110 of the main body front end connected integrally with the linear guide 110 in order to protect the micromotor 140 from the impact caused by the linear movement of the linear magnet 300. Configure the safety plate 130 to.

The rotary coupler 210 configured to couple the rotation magnet 200 to the motor shaft 141 of the micromotor 140 has a fixing hole 211 into which the motor shaft 141 is fixed. And an insertion hole 213 into which the motor mounting part 120 is inserted is formed at a lower end thereof, and is fixed to be attached to the rotation magnet 200.

The linear coupler 310 inserted into and fixed to the inside of the linear magnet 300 moves linearly along the guide groove 111 of the linear guide 110, and a guide rail fitted to the guide groove 111 for this purpose. 311 is formed on the inner wall surface.

In addition, the limiter 320 is configured to prevent the linear reciprocating linear magnet 300 from being separated from the linear guide 110.

Here, the limiter 320 and the rotary coupler 210 is preferably formed in a hemispherical upper end for movement in the organic tube.

3 is a diagram illustrating a simplified model for analyzing the behavior of a rotation magnet and a linear magnet according to the present invention, and FIG. 4 is a view schematically showing an operating state of the mobile device according to the present invention.

The rotation magnet 200 and the linear magnet 300 is formed of a cylindrical permanent magnet consisting of the N pole and the S pole, in order to maximize the magnetic force in the axial direction in which the force acts, the double-sided magnet or both sides as shown in FIG. It consists of a 4-pole magnet.

The cylindrical magnet as shown in (a) of FIG. 3 can be simplified into several rod magnets as shown in (b) of FIG. 3, and the magnetic flux generated between the rod magnets rotating in the upper part and the rod magnets linearly moving in the lower part. Magnetic force is generated by When considering the force between the magnets, as shown in (c) of FIG. 3 only reflects the force between the two closest magnets, the ratio of the magnets that generate the attraction force and the ratio of the magnets that generate the repulsive force periodically changes. When this direction / weighting factor is set to c (t) and the motor rotation period is assumed to be T, the direction / weighting factor function for the time variable is expressed by Equation 1 below. 4 (a) shows the change of the direction / weighting element according to the rotation when the period T = 1.

Therefore, as shown in FIG. 4, when the rotation magnet 200 rotates by the rotation of the micromotor 140 and the same pole as the linear magnet 300 faces, the repulsive force acts to move forward. When the other pole approaches and a manpower is generated, it moves backward. At this time, the forward movement and the backward movement of the rotation magnet 200 are changed by the directional friction by the spiral rib 221 of the spiral film 220 to be described later.

As a result, the linear reciprocating motion period of the linear magnet 300 coincides with the rotation period of the micromotor 140, and the unidirectional rotational motion of the rotation magnet 200 is converted into the linear reciprocation motion of the linear magnet 300. It can generate the driving force.

In order for the linear reciprocating movement to continue, the linear magnet 300 moves to the initial position on the linear guide 110 to continuously perform the next cycle while the attraction force is applied between the rotation magnet 200 and the linear magnet 300. It is necessary to limit the stroke of the linear magnet 300 as the maximum distance to ensure, so that the length of the linear guide 110 is appropriately set.

If the stroke of the linear magnet 300 is not limited, the linear magnet 300, which is separated by the repulsive force acting in the process of FIGS. 4 (d) to 4 (e), may not be attracted to the initial position even when the attraction force is applied.

5 is a view conceptually illustrating the degree of friction in the moving direction of the spiral film of the spiral film according to the present invention, Figure 6 is a view for the analysis (curvature).

As shown in FIG. 5, the spiral rib 221 of the spiral film 220 which is installed externally to the rotation magnet 200 is formed as a small curvature in the forward direction of the rotation magnet 200. The reverse direction is formed by a large cavity, the friction degree is different according to the moving direction.

That is, when the linear magnet 300 is advanced by the repulsive force with the rotation magnet 200, the drag does not increase due to the rising edge of the spiral rib 221, which gradually increases, The falling edge of the spiral rib 221, which is rapidly decreasing when reversing, generates a relatively large drag against the mucus in the organic tube. Accordingly, a difference in drag occurs according to the direction of movement of the rotation magnet 200, thereby clamping the slime layer, and the moving device according to the present invention is advanced by additional propulsion force.

In addition, the spiral film 220 is provided with a ductile rubber material for stability and convenience in the body, for example, it can be designed as shown in Table 1 below.

The activity of the microrobot in the organism tube is relative because there is no reference point for movement inside unless the externally supplied force is used.

Therefore, even if the rotation magnet 200 is rotated relative to the main body 100, when a large drag acts on the spiral film 330, the rotation magnet 200 is stopped and the main body 100 rotates. May occur.

In particular, when the organic tube has a tensile force (or tightening force) in the circumferential direction or the organic tube membrane is very thin, the rotation magnet 200 may stop and rotate only the main body 100.

Therefore, the spiral film 330 is also externally installed on the limiter 320, but the spiral rib 331 in a direction symmetrical with the spiral rib 221 of the spiral film 220 installed on the rotation magnet 200 is formed. By mounting the spiral film 330, to prevent the rotation of the main body 100 during the rotation of the rotation magnet 200.

Since the moving device of the microrobot according to the present invention can move only in one direction, there is no problem when it is applied to an endoscope robot that eats and swallows. Required.

Therefore, the two moving apparatuses according to the present invention are arranged back and forth so as to face each other by using a connecting means such as a thread, driving the front moving apparatus when moving forward and driving the rear moving apparatus when moving backwards. This can be configured to be possible.

Experimental Example 1

7 is a view schematically showing an experimental apparatus for checking whether friction according to a moving direction is different according to the spiral film according to the present invention.

Friction force measurement was performed in the conventionally presented method, and for this purpose, the small intestine 11, which is not cut, is placed on the feed system 13, and both ends of the small intestine 11 are fixed with the clamp 12. Insert the test piece 10 equipped with only the spiral film into the small intestine 11 as shown in FIG. 7, mount the seal 14 to the rear of the test piece 10, and strain the other end of the seal 14. Is attached to the cantilever (16) attached.

When the feed system 13 is moved at a speed of 2 mm / sec, the small intestine 11 also moves along the feed system 13, and the cantilever 16 is driven by the frictional force generated between the small intestine 11 and the test piece 10. ) Bends.

When the resistance of the strain gauge 15 was changed, the friction force was output in the form of voltage through the Wheatstone bridge, the friction force was measured, and two spiral films were mounted symmetrically, and the fillets at both ends of the specimen were set identically. . The organ tube was made of porcine intestine, and the intestine was coated with silicone oil showing similar characteristics to prevent the viscosity from changing due to the evaporation of water in the intestinal fluid. In the experiments, the frictional force was measured by dividing the spiral film and the stationary case into four directions, one for which the frictional force was expected to be low and the other for which the frictional force was to be reversed. The measured data (sampling period 1ms) was very noisy, so we filtered 100 mav.

FIG. 8 is a graph illustrating a friction force measurement value according to a moving direction and a rotation according to the experiment of FIG. 7.

Figure 8 (a) is a graph showing the difference in frictional force according to the moving direction of the moving device when the motor does not rotate, the peak value after the initial process is about 30 ~ 40gf in the forward direction, about less than this in the reverse direction It was formed between 70 to 80 gf, which is about twice as large, and FIG. 8 (b) shows the measured value when the motor rotates, and peak values of 20-30 gf and 140-160 gf were measured, respectively.

In the experiment as described above, it was confirmed that the spiral ribs 221 formed by forming the cavities according to the moving direction acted as a clamping role by causing a difference in the frictional force according to the directions, and this gap was increased during rotation. .

Experimental Example 2

The following experiment was conducted to confirm whether the forward movement due to the spiral movement of the rotation magnet 200 and the forward movement due to the linear movement of the linear magnet 300 are simultaneously observed.

9 is a view showing a test piece implementing a microrobot moving device according to the present invention.

First, in order to be suitable for the experimental environment, as shown in FIG. 9, the test piece mounted symmetrically on the rotation magnet 200 and the limiter 320 and two spiral films 220 and 330, and the spiral film 220 only on the rotation magnet 200. It was prepared as a test piece equipped with.

The performance test of the mobile device according to the invention is carried out in two ways. Experimental experiments were carried out to simulate the organism tube in vitro and to verify the performance by inserting a mobile device directly into the organ specimens of animals.

In the first simulated tube experiment, the organic tube in the human body was simulated using vinyl pipe and silicon oil. 10 shows an experimental scene assuming movement in an organic tube of which diameter does not change.

To this end, first, a silicone oil having a viscosity of 1000 was filled in the tank, and a vinyl pipe having a diameter of 15 mm was installed in the tank parallel to the ground. 10 (a) ~ (b) process is moved by the spiral movement of the rotation magnet 200, when the repulsive force acting on the linear magnet 300 pushes out the mucous and (b) ~ (c) of FIG. Advances dramatically as Then, before the attraction force acts on the linear magnet 300, the spiral is moved forward as shown in FIGS.

In the steps (d) to (e) of FIG. 10, the moving device moves backward by the linear magnet 300 moving forward, but the displacement is lower than that of the steps (b) to (c) of FIG. 10 due to the directional friction. You can see that it is small. 10 (a) to 10 (e), the advancing and the linear movements were mixed in all processes, and the period was 0.8 seconds, and 50 mm was advanced for 30 seconds as shown in (a) of FIG.

12 is a view showing the results of the intra-mockula experiment and the animal experiment according to the present invention.

The second in-situ experiment set up the environment by simulating a living organism tube more similarly. In order to set the diameter of the organic tube to the experimental environment, the vinyl pipe was cut in the longitudinal direction so that the tensile force in the circumferential direction was continuously operated due to the residual stress.

Then, the diameter of the vinyl pipe changes according to the diameter of the moving device, and the thickness of the fluid film is made thin. In addition, as the fluid film moves, the diameter of the vinyl pipe continuously changes, thereby establishing an environment closer to the actual organic tube.

Figure 11 shows the forward shape of the mobile device in a tensile force considered environment. This is the same as the experiment of FIG. 10, the spiral movement and linear movement is observed in the whole process, but the unwanted backward observed in (d) ~ (e) of Figure 10 does not occur in (c) ~ (d) of FIG. Did. This shows that the effect of directional friction is greater when the fluid film is formed thin. In addition, the diameter of the vinyl pipe changed periodically during the movement.

The experiment of FIG. 11 advanced 60mm for about 30 seconds as shown in FIG. 12 (b), which shows about 20% better performance than the experiment of FIG. These results show that the fabrication of a spiral structure of appropriate size can be maximized by the directional friction structure according to the pipe diameter of the application organ.

Experiments were carried out by inserting a moving window into the body of the animal was composed of the small intestine extracted from pigs as shown in Figure 12 (c). Moisture evaporates from the small intestine, which increases the viscosity of the digestive fluid, causing a lot of drag in the direction of rotation during spiral movement, and because the small intestine tissue is very thin, the tissue is warped. . As a result, it advanced about 10mm for 6 seconds, and it can be seen that it is the same as the result of the first simulation.

While the invention has been shown and described with respect to certain preferred embodiments thereof, the invention is not limited to these embodiments, and has been claimed by those of ordinary skill in the art to which the invention pertains. It includes all the various forms of embodiments that can be implemented without departing from the spirit.

1 is an exploded perspective view showing a moving device of a micro robot according to the present invention;

Figure 2 is a perspective view showing a coupling device for moving the microrobot according to the present invention

3 is a view showing a simplified model for the behavior analysis of a rotation magnet and a linear magnet according to the present invention

4 is a view schematically showing an operating state of a mobile device according to the present invention;

5 is a view conceptually showing the degree of friction according to the moving direction of the spiral film of the spiral film according to the present invention.

6 is a view for the analysis (curvature) of the spiral rib in accordance with the present invention

7 is a view schematically showing an experimental apparatus for checking whether friction according to a moving direction is different according to the use of the spiral film according to the present invention.

FIG. 8 is a graph illustrating a friction force measurement value according to a moving direction and a rotation according to the experiment of FIG.

9 is a view showing a test piece implementing a moving device of the microrobot according to the present invention

10 is a view showing an experimental scene assuming the movement in the organic tube does not change the diameter in accordance with the present invention

11 is a view showing a forward form of the moving device in an environment in which tension is considered according to the present invention;

Figure 12 is a view showing the results of the experimental and animal experiments in the simulated duct according to the present invention

<Description of the symbols for the main parts of the drawings>

100: main body 110: linear guide

111: guide groove 120: motor mounting portion

130: safety plate 140: micromotor

200: rotation magnet 210: rotary coupler

220, 330: spiral film 221, 331: spiral rib

300: linear magnet 310: linear coupler

311: guide rail 320: limiter

Claims (6)

The main body is provided with a motor mounting part 120 is inserted into the micro motor 140 is installed in the front end portion, the linear guide 110 is formed in the longitudinal direction under the motor mounting portion 120 is formed ( 100); A rotary coupler 210 into which the motor shaft 141 of the micromotor 140 is inserted and fixed; A rotation magnet 200 in which the rotary coupler 210 is inserted into the rotation coupler; A linear coupler 310 having a guide rail 311 fitted into the guide groove 111 formed on an inner wall surface thereof; The linear coupler 310 is installed inside the linear magnet 300 having a linear reciprocating movement period equal to the rotation period of the micromotor 140 by the attraction and repulsive force generated by the rotational movement of the rotation magnet 200 ); A limiter 320 fixed to the end of the linear guide 110 to limit the moving distance of the linear magnet 300; A spiral film 220 formed to form one or more spiral ribs 221 externally to the rotation magnet 200; Moving device of a micro robot, characterized in that comprises a. The method according to claim 1, The helical rib 221 is formed of a small (curvature) in the forward direction of the rotation magnet 200 and a large cavitation in the backward direction is characterized in that the friction degree according to the moving direction is formed differently Micro robot moving device. The method according to claim 1, In order to continue the linear reciprocation of the linear magnet 300, the linear guide 110 is a contact between the linear magnet 300 and the rotation magnet 200 by the attraction force between the linear magnet 300 and the rotation magnet 200. Moving device of a micro robot, characterized in that formed in the length of less than the maximum distance to ensure. The method according to claim 1, A separate spiral film 330 having a spiral rib 331 symmetrical with a curvature of the spiral rib 221 of the spiral film 220 circumscribed to the rotation magnet 200 is formed on the limiter 320. Moving device of a micro robot, characterized in that the external installation. The method according to claim 1, Between the motor mounting portion 120 and the linear guide 110 provided at the front end of the main body 100 is characterized in that the safety plate 130 is further configured to mitigate the impact caused by the linear reciprocating motion of the linear magnet 300 Microrobot moving device. The method according to claim 1, The spiral film 220 is a material of the moving device of a micro robot, characterized in that the rubber.

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