KR101084723B1 - Electromagnetic based actuation system on 2 dimensional plane and method the same - Google Patents

Abstract

The present invention relates to a two-dimensional planar electromagnetic drive device and a driving method, wherein a direction alignment module composed of at least one pair of Helmholtz coils arranged opposite to an arbitrary space in an isometric manner on a plane around the space. Is configured to be arranged repeatedly, the robot alignment unit for aligning the micro robot in the forward direction; And a robot propulsion module including a robot propulsion module including at least one pair of Maxwell coils disposed to face each other with a plane of symmetry, and propelling the aligned micro robot in a traveling direction. Repeatedly arranging the direction alignment modules each including at least one pair of Helmholtz coils disposed opposite to each other and having the same current direction on a plane about a space; Arranging a robot propulsion module having at least one pair of Maxwell coils disposed opposite to each other on a plane of symmetry and having different current directions; In the state where the micro robot is disposed in the space, controlling the Helmholtz coils forming the robot alignment unit to align the micro robots in the forward direction, and controlling the current supply amount of the Maxwell coils forming the robot propulsion unit to propel the micro robots in the forward direction. It provides a driving method comprising a.

Micro, Robot, Blood Vessel, Coil, Helmholtz, Maxwell, Magnetized, Magnetic, Electromagnetic Field

Description

2D Planar Electromagnetic Drive and Driving Method {ELECTROMAGNETIC BASED ACTUATION SYSTEM ON 2 DIMENSIONAL PLANE AND METHOD THE SAME}

The present invention relates to a two-dimensional planar electromagnetic drive device and a driving method, and more particularly, using four pairs of coils in a structure having four pairs of coils for direction and position control of the micro robot using only four pairs of coils. By implementing the same operation as that in the excitation structure, the two-dimensional planar electromagnetic drive and driving method for the two-dimensional movement control of the micro robot that can significantly reduce the volume and power consumption while maintaining the region of interest of the existing system It is about.

In general, a driving system of a micro robot using electromagnetics is configured to include a driving device capable of driving a plane of a micro robot using a basic electromagnet coil module and one rotating shaft (Z axis, 11).

That is, as shown in Figure 1, the conventional electromagnetic drive micro-robot driving module 10 is composed of a pair of Helmholtz Coil (13) and Maxwell Coil (Maxwell Coil) 14, the coil module is a rotating shaft It is configured to rotate using (Z-axis, 11).

This generates a magnetic flux of uniform magnitude and a magnetic flux of a constant size between coil modules on a plane of the rotation axis (Z-axis, 11), thereby enabling rotation and movement of the micro robot.

In detail, first, by using the Helmholtz coil 13 to generate a magnetic flux of uniform size to magnetize the microrobot, and then to rotate in the desired direction using the rotation axis (Z axis, 11), the microrobot is uniform It will rotate along the magnetic flux.

Then, after rotating in the desired direction of motion and generating a uniformly increasing magnetic flux using the Helmholtz coil 13 and the Maxwell coil 14 simultaneously, the micro robot moves in the direction of increasing or decreasing the magnetic flux.

Therefore, the micro robot can enable desired plane motion on the plane (X-Y plane) of the rotation axis (Z axis) 11.

Meanwhile, as shown in FIG. 2, another conventional electromagnetic driving microrobot driving module has a structure in which two pairs of Helmholtz coils and two pairs of Maxwell coils are fixed and planar driving of the microrobot is possible.

That is, the conventional electromagnetically driven microrobot driving module shown in FIG. 2 includes two pairs of Helmholtz coils HCX and HCY and two pairs of Maxwell coils MCX and MCY, and each of the Helmholtz coils HCX and HCY By adjusting the intensity of the current supplied to each of the Maxwell coils MCX and MCY, the micro robot can be aligned in any direction on the plane or propel in the aligned direction.

This can form a uniform magnetic field in any direction by adjusting the strength and direction of the current applied to the two pairs of Helmholtz coils HCX and HCY on the plane in the region of interest (S, ROI) between the coils. Through this, it is possible to align the paramagnetic microrobot in the region of interest.

In addition, as described above, when the microrobots are aligned, when the magnetic fields having the same slope are generated in the pair of Maxwell coils MCX and MCY, the microrobots generate and propel the magnetic force in the aligned direction.

At this time, by controlling the inclination of the magnetic field generated by the Maxwell coils (MCX, MCY), it is possible to control the propulsion force applied to the micro robot, and by controlling the direction of the magnetic field inclination to the opposite direction can be controlled to propel the propulsion direction in the opposite direction have. Therefore, the micro robot can be plane-moved in a desired direction on the X-Y plane which is the plane in the region of interest S.

However, the conventional electromagnetic driving microrobot driving module shown in FIG. 2 is bulky because it uses four pairs of coils, that is, two pairs of Helmholtz coils HCX and HCY and two pairs of Maxwell coils MCX and MCY. The disadvantage is that it consumes a lot of power.

Due to these disadvantages, the volume of the electromagnetically driven microrobot driving module is large and power consumption is large compared to the moving ability of the microrobot in medical applications, which causes a problem that the utility of the system is degraded.

An object of the present invention for solving the problems according to the prior art, by using a minimum number of coils to build the electromagnetic drive micro-robot driving module, by controlling the current supplied to each coil, to perform the displacement control of the micro robot The present invention provides a two-dimensional planar electromagnetic drive device and a driving method.

Another object of the present invention, compared with the conventional electromagnetic drive micro-robot driving module, while having the same area of interest and performance while reducing the volume and power consumption of the two-dimensional planar electromagnetic drive that can extend the operating range of the electromagnetic drive micro robot driving module An apparatus and a driving method are provided.

Another object of the present invention is to prevent the rotation of the electromagnetic driven micro-robot driving module to implement the safety and noiseless system of the system, when applying the electromagnetic driven micro-robot driving module as a medical device to minimize the sense of pressure on the patient To provide a two-dimensional planar electromagnetic drive device and a driving method.

In the two-dimensional planar electromagnetic drive device of the present invention for solving the above technical problem, a direction alignment module consisting of at least one pair of Helmholtz coils arranged opposite to any space is equiangular in the plane about the space Iii) a robot alignment unit configured to be repeatedly arranged in order to align the micro robot in a traveling direction; And a robot propulsion module including at least one pair of Maxwell coils, the plane being opposed to the plane of symmetry, and configured to propel the aligned micro robot in the traveling direction. .

Preferably, the robot alignment unit, at least one pair of X-axis Helmholtz coils disposed opposite the space; And at least one pair of Y-axis Helmholtz coils orthogonal to the X-axis Helmholtz coils and disposed to face the space.

More preferably, the X-axis Helmholtz coil is installed in the inner space of the Y-axis Helmholtz coil.

More preferably, the robot propulsion unit, characterized in that consisting of the Z-axis Maxwell coil perpendicular to the X-axis Helmholtz coil and the Y-axis Helmholtz coil.

Preferably, a position recognition unit for determining the position of the micro robot; And a Helmholtz coil constituting the robot alignment unit and a Maxwell coil constituting the robot propulsion unit to control the trajectory of the microrobot based on the movement information of the microrobot detected by the position recognition unit and the route information of the microrobot previously input. The control unit for controlling the current supply amount of the; characterized in that it comprises a.

More preferably, the position recognition unit recognizes relative position information using an internal position recognition device together with an image recognition method through X-ray, a map showing a route to be passed by the micro robot, for reading the position of the micro robot. The method may be any one of a method, a position detection method using a microscope, and a method for identifying position information using a camera system.

Preferably, the Helmholtz coil and Maxwell coil is characterized in that the circular coil.

Preferably, the Maxwell coil is characterized in that the current direction of the coil is different.

Preferably, the current direction of the Helmholtz coil is the same.

Preferably, the micro-robot is characterized by using any one of the magnetizable ferromagnetic (Ferro Magnet) or a magnetized permanent magnet (Permanent Magnet).

In addition, the two-dimensional planar electromagnetic driving method of the present invention for solving the above technical problem, (a) a direction alignment module consisting of at least one pair of Helmholtz coils disposed opposite to each other and having the same current direction as the center; Iteratively disposing on a plane about a space; (b) disposing the robot propulsion module comprising at least one pair of Maxwell coils having the planes opposed to each other in a symmetrical plane and having different current directions; (c) In the state in which the micro robot is arranged in the space, by controlling each Helmholtz coil constituting the robot alignment unit to align the micro robot in the advancing direction, and controls the current supply amount of the Maxwell coil constituting the robot propulsion unit to control the micro And propelling the robot in the advancing direction.

Preferably, after step (c), (d) the locus of the microrobot is detected based on the motion information of the microrobot and the route information of the previously entered microrobot, and the robot alignment is based on the detected locus. And controlling a current supply amount of each Helmholtz coil forming a portion and the Maxwell coil forming the robot propulsion unit.

A coil system structure for controlling a micro robot according to the present invention and a two-dimensional planar electromagnetic driving device using the same are arranged in a vertical direction in which two pairs of Helmholtz coils and one pair of Maxwell coils are supplied to a Helmholtz coil and a Maxwell coil. As the displacement control of the micro robot is performed by controlling the amount of current, the rotational space of the coil system is not required, thereby improving the space utilization capability of the system.

In addition, the present invention can be confirmed by about 18% reduction in the Maxwell coil is installed inside the volume.

In addition, the present invention can be applied to the gastrointestinal mobile robot, blood vessel mobile robot, retinal mobile robot, brain cortical mobile robot, etc. There is an effect that can secure the base technology of the medical robot.

In addition, the present invention by implementing the electromagnetic drive in a fixed structure, there is an effect of providing the stability and convenience of care for the patient by removing the noise for driving the electromagnetic drive.

The invention will become more apparent through the preferred embodiments described below with reference to the accompanying drawings. Hereinafter will be described in detail to enable those skilled in the art to easily understand and reproduce through embodiments of the present invention.

The two-dimensional planar electromagnetic drive device according to an embodiment of the present invention, as shown in Figures 3 to 5, largely, the robot alignment unit 100, the robot propulsion unit 200, the position recognition unit 300, It is configured to include a controller 400.

The robot alignment unit 100 has a plurality of direction alignment modules (a) made up of a pair of Helmholtz coils arranged opposite to a predetermined space (S) in a plane around the space (S). It is configured to be orthogonal to each other, to align the micro robot (MCRB) in the advancing direction.

The robot propulsion unit 200 is configured to include a robot propulsion module (b) consisting of at least a pair of Maxwell coils (Maxwell Coil) disposed opposite the plane in a symmetrical plane, the aligned micro robot (MCRB) Propulsion in the direction of progress.

The micro robot (MCRB) is composed of a magnetizable ferromagnetic or a permanent magnet that is already magnetized, and is magnetized by an electromagnetic field formed outside the microrobot, and a driving force is provided based on the microrobot.

First, the robot alignment unit 100 will be described.

The robot alignment unit 100 has a plurality of direction alignment modules (a) consisting of a pair of Helmholtz coils disposed opposite to each other in a predetermined space (S) orthogonal to each other on a plane about the space (S). And a pair of X-axis Helmholtz coils (HCX) and the X-axis Helmholtz coils which are arranged so as to align the micro robots MCRB in the advancing direction. It consists of a pair of Y-axis Helmholtz coils HCY which are orthogonal to HCX and are disposed to face each other around the space S.

In detail, as shown in FIG. 4, X-axis Helmholtz coils are secured to an arbitrary space S corresponding to the active range of the micro robot MCRB, and are disposed perpendicular to each other about the space S. HCX) and Y-axis Helmholtz coil HCY.

The X-axis Helmholtz coils HCX are arranged in a pair opposite to the space S, and the Y-axis Helmholtz coils HCY are arranged in a pair opposite to the space S. But it is installed perpendicular to the X-axis Helmholtz coil (HCX). In this case, the X-axis Helmholtz coil HCX is installed in the inner space of the Y-axis Helmholtz coil HCY.

This is embodied as an embodiment of the present invention, and differently shown, it is possible to set different diameters of the X-axis Helmholtz coil (HCX) and the Y-axis Helmholtz coil (HCY), which is the X-axis Helmholtz coil (HCX) and Y The electromagnetic field is controlled by the amount of current applied to the shaft Helmholtz coil HCY, and the electromagnetic field is controlled according to the number of turns and the supply current of the coil wound around the X-axis Helmholtz coil HCX and Y-axis Helmholtz coil HCY. Determining the size of the X-axis Helmholtz coil HCX and the Y-axis Helmholtz coil HCY will depart from the gist of the present invention.

On the other hand, the X-axis Helmholtz coil (HCX) and Y-axis Helmholtz coil (HCY) is configured in the same current direction of the coil, it may be composed of a circular coil.

As described above, the configuration in which the current directions of the X-axis Helmholtz coil HCX and the Y-axis Helmholtz coil HCY are identical to each other is the magnetization of the micro robot MCRB and the alignment in the traveling direction of the micro robot MCRB. To determine.

The pair of X-axis Helmholtz coils (HCX) designates the flow direction of the micro robot (MCRB) as the X axis, and the pair of Y-axis Helmholtz coils (HCY) specify the flow direction of the micro robot (MCRB). Specify in Y axis. This defines the direction of the electromagnetic field between the mutually opposed X-axis Helmholtz coils (HCX) and Y-axis Helmholtz coils (HCY), thereby moving the micro robot (MCRB) in the XY plane based on the electromagnetic fields in the X- and Y-axis directions. Is set to phase.

Therefore, the moving direction of the micro robot MCRB is determined by the X-axis Helmholtz coil HCX and the Y-axis Helmholtz coil HCY provided in the X-axis and the Y-axis.

The micro robot (MCRB) is seated in the center of the space (S), the direction of the micro robot (MCRB) is controlled in accordance with the direction of the electromagnetic field induced from the X-axis Helmholtz coil (HCX) and Y-axis Helmholtz coil (HCY) do. If necessary, the space S is a treatment space for a patient, and the micro robot MCRB is injected into a blood vessel inside the patient's body. The blood vessels are loaded with blood flow, and the micro robot (MCRB) is provided with an electromagnetic field intensity that is proportional to the blood flow load.

Next, the robot propulsion unit 200 will be described.

The robot propulsion unit 200 is a robot propulsion module including at least one pair of Maxwell coils arranged to face each other with the XY plane on which the aforementioned X-axis Helmholtz coil (HCX) and Y-axis Helmholtz coil (HCY) are disposed as symmetrical surfaces. (b) is configured to propel the aligned micro robot (MCRB) in the advancing direction, in this embodiment, one robot propulsion module (b), that is, a pair of Maxwell coils (hereinafter, "Z-axis Maxwell coils (MCZ)" is referred to only as a minimum coil.

Specifically, the pair of Z-axis Maxwell coils MCZ of this embodiment are configured to be perpendicular to the X-axis Helmholtz coil HCX and the Y-axis Helmholtz coil HCY. That is, the X-axis Helmholtz coil HCX is configured by the X-axis, the Y-axis Helmholtz coil HCY is configured by the Y-axis, and the Z-axis Maxwell coil MCZ is configured by the Z-axis. In addition, the Z-axis Maxwell coil MCZ may be formed in a circular coil in which current directions of the Helmholtz coils HCX and HCY are different from each other.

Therefore, as shown in FIG. 10, if the direction of the magnetic field is determined in the 45 degree direction as shown in the field map by the interaction of the X-axis Helmholtz coil HCX and the Y-axis Helmholtz coil HCY, the micro The robot (MCRB) is aligned in the 45 degree direction, and when the magnetic field of the Z-axis Maxwell coil is applied, the robot (MCRB) is shown on the force map by interaction with the magnetic fields of the X-axis Helmholtz coil (HCX) and Y-axis Helmholtz coil (HCY). As such, the final propulsion is applied in the 45 degree direction.

That is, when the direction of the magnetic field due to the interaction of the X-axis Helmholtz coil (HCX) and the Y-axis Helmholtz coil (HCY) is 45 degrees, the slope in the X-axis and Y-axis directions by the Z-axis Maxwell coil When a constant magnetic field is formed, the micro robot may be formed by a magnetic field having a constant gradient generated by the magnetic field caused by the interaction of the X-axis Helmholtz coil HCX and the Y-axis Helmholtz coil HCY and the Z-axis Maxwell coil MCZ. The propulsion force in the 45 degree direction is applied to MCRB).

Specifically, the micro robot is generated in the direction to align the direction of the magnetic field by the interaction of the X-axis Helmholtz coil (HCX) and Y-axis Helmholtz coil (HCY), and using the Z-axis Maxwell coil (MCZ) If the magnetic field of the same inclination in the axial direction and the Y-axis direction is formed, the magnetic force is generated in the direction in which the micro robot (MCRB) is aligned to propel.

Next, the position recognition unit 300 and the control unit 400 will be described.

As shown in FIG. 5, the position recognition part 300 is a part for grasping the position of the micro robot MCRB flowing in the space S, and the control part 400 is the position recognition part ( X-axis Helmholtz coil HCX, Y to control the trajectory of the microrobot MCRB based on the movement information of the microrobot MCRB detected at 300 and the route information of the previously input microrobot MCRB. This part controls the current supply amount of the axial Helmholtz coil HCY and the Z-axis Maxwell coil MCZ.

The controller 400 performs control of each current for the X-axis Helmholtz coil (HCX), Y-axis Helmholtz coil (HCY), and Z-axis Maxwell coil (MCZ), thereby deriving from each coil (HCX, HCY, MCZ). The plane movement direction and propulsion force of the micro robot (MCRB) is determined by setting the strength and direction of the electromagnetic field, and the plane movement direction and propulsion force of the micro robot (MCRB) are determined. To be able.

That is, as the current value control of the X-axis Helmholtz coil HCX, the Y-axis Helmholtz coil HCY, and the Z-axis Maxwell coil MCZ for the micro robot MCRB to flow to a predetermined target position (see FIG. 6). On the basis of the current position information of the micro robot (MCRB) detected by the position recognition unit 300 and the route information of the micro robot (MCRB) corresponding to the set target, the X-axis Helmholtz coil (HCX) and the Y-axis Helmholtz coil (HCY) And the strength and direction of the electromagnetic field relative to the Z-axis Maxwell coil MCZ.

On the other hand, in the above-described position recognition unit 300, when the micro robot (MCRB) is introduced into the human body, an image recognition method through X-ray may be applied, and if necessary, the existing map, for example, the micro robot (MCRB) In addition to a map showing human blood vessels to be transited, a method of recognizing relative location information using an internal location recognition device may be used. Alternatively, when the micro robot (MCRB) is exposed, location information using a microscope and a camera system may be identified.

In order to compare the difference with the conventionally proposed electromagnetic drive device, FIG. 8 shows an existing electromagnetic drive device (upper side) and an electromagnetic drive device (lower side) according to an embodiment of the present invention.

First, for comparison, in the two electromagnetic drive devices having the same region of interest (spatial (S), ROI), it is possible to compare the number of windings and distance of coils that can generate the same force as the arrangement of each coil. It was.

*r"로 정의되고, X축 맥스웰 코일(MCX)은 X축 헬름홀츠 코일(HCX)과 반경이 같고 중심부로부터 "

/2*r"만큼 이격된 것으로 정의하였을 때, X축 맥스웰 코일(MCX) 간의 거리는 "

*r"로 정의되고, Y축 맥스웰 코일(MCY) 간의 거리는 "

*r"로 정의된다. (도 8의 상측) In the proposed electromagnetic drive device, when the distance between X-axis Helmholtz coils (HCX) is defined as "r", the distance between Y-axis Helmholtz coils (HCY) is "

is defined as * r ", the X-axis Maxwell coil (MCX) has the same radius as the X-axis Helmholtz coil (HCX) and the"

Defined as spaced apart by / 2 * r ", the distance between the X-axis Maxwell coils (MCX)

* r ", the distance between the Y-axis Maxwell coils (MCY) is"

* r ". (upper side in FIG. 8)

*r"로 정의되며, Z축 맥스웰 코일(MCZ)의 직경은 "

*r"로 정의된다. (도 8의 하측)On the other hand, in the electromagnetic drive device according to an embodiment of the present invention, if the above positive relationship is applied, the distance between the X-axis Helmholtz coil (HCX) is defined as "r", between the Y-axis Helmholtz coil (HCY) The distance is "

* r ", the Z-axis Maxwell coil (MCZ) has a diameter of"

* r ". (bottom of Figure 8)

Under these assumptions, the Helmholtz coils (HCX, HCY) were excluded from the comparison because they were the same in the two electromagnetic drives, and only the Maxwell coils (MCX, MCY, MCZ) were set as the comparison.

A comparison of the power consumption of the two systems is shown in Table 1 below.

division coil radius Turns ratio Resistance ratio Power consumption
existing
Electromagnetic
Drive MCX r 2 4π * r
15.31π * r MCY

*r

* r 4 11.31π * r Of the present invention
In one embodiment
According
Electromagnetic
Drive
MCZ

/ 2 * r
1.41π * r
1.4π * r

As can be seen from [Table 1], the proposed system has reduced power consumption by 91% compared to the existing system.

In the two-dimensional planar electromagnetic driving method using the two-dimensional planar electromagnetic driving apparatus according to an embodiment of the present invention, (a) a pair of Helmholtz coils which are disposed facing each other about an arbitrary space S and have the same current direction; Constructing a robot alignment unit 100 by arranging a plurality of directional alignment modules (a) orthogonal to each other on a plane with respect to the space S; (b) arranging the robot propulsion unit 200 by arranging the robot propulsion module (b) having at least one pair of Maxwell coils having the planes opposed to each other in a symmetrical plane and having a current direction different from that of the Helmholtz coil; (c) In the state in which the micro robot (MCRB) is arranged in the space (S), by controlling each Helmholtz coil constituting the robot alignment unit 100 to align the micro robot (MCRB) in the advancing direction, the robot Controlling the current supply amount of the Maxwell coil constituting the propulsion unit 200 to propel the micro robot (MCRB) in the advancing direction; (d) The locus of the microrobot MCRB is detected based on the movement information of the microrobot MCRB and the route information of the microrobot MCRB, and the robot alignment unit is based on the detected locus. And controlling a current supply amount of each Helmholtz coil constituting 100 and Maxwell coil constituting the robot propulsion unit 200.

As shown in FIG. 7, blood vessels of the examinee are photographed at step S10. Angiography may be taken by CT, MRI, X-ray, or the like. The photographed blood vessel photograph is stored as graphical information, and the path information to the target position described above is generated by dataizing the segmented position or the specific position of the vessel. The path information is a blood vessel path from the position of the current micro robot (MCRB) to the target position, and is a path that the micro robot (MCRB) should move along the blood vessel to the target position.

Therefore, in step S20, the inspector sets a target position to which the micro robot (MCRB) should arrive based on the vessel path information. In operation S30, the micro-robot (MCRB) continuously injected into the blood vessel of the subject is continuously photographed using the position recognition unit 300. This is to match the movement trajectory of the micro robot MCRB and the path to the target position. The position recognition unit 300 may use an image recognition method through X-ray, or may use a relative position information recognition method using an internal position recognition device.

In step S40, the control unit 400 is a path to which the micro robot (MCRB) should move based on the current position information of the micro robot (MCRB) detected by the position recognition unit 300, the blood vessel path information, and the target information. Calculate If necessary, the moving speed or the size of the moving force of the micro robot MCRB may be set to correspond to the size of the blood vessel or the state of the subject.

In step S50, the controller 400 calculates the amount of current to be supplied to the X-axis Helmholtz coil HCX and the Y-axis Helmholtz coil HCY based on the movement direction along the path of the micro robot MCRB. . The current supplied to the X-axis Helmholtz coil (HCX) and the Y-axis Helmholtz coil (HCY) is for the magnetization and orientation of the micro robot (MCRB), and varies depending on the blood flow or the pressure of the blood vessel. In operation S60, the controller 400 controls the starting of the Z-axis Maxwell coil MCZ provided in the Z-axis.

The controller 400 generates a control signal for driving each of the Z-axis Maxwell coils MCZ in response to a movement speed according to a movement direction of a preset micro robot MCRB. Accordingly, the controller 400 supplies a corresponding amount of current to each of the Z-axis Maxwell coils MCZ. The current amount setting supplies current to each Z-axis Maxwell coil MCZ in proportion to the set movement speed or blood flow load of the micro robot MCRB.

In step S70, the control unit 400 detects the movement of the micro robot (MCRB), and performs correction for the trajectory. This is to correspond to the load of the blood flow, and in this process through the position recognition unit 300 to recognize the trajectory of the micro robot (MCRB). Accordingly, the controller 400 moves the micro robot based on the amount of current applied to the X-axis Helmholtz coil HCX, the Y-axis Helmholtz coil HCY, and the Z-axis Maxwell coil MCZ through step S80. Determine if this is normal. For example, when the flow rate of the micro robot MCRB is lower than the reference value based on the amount of current information applied to each of the X-axis Helmholtz coil HCX, Y-axis Helmholtz coil HCY, and Z-axis Maxwell coil MCZ, The load is considered large. Therefore, the control unit 400 corrects the amount of current applied to each of the X-axis Helmholtz coil HCX, the Y-axis Helmholtz coil HCY, and the Z-axis Maxwell coil MCZ through step S90 to flow speed of the micro robot MCRB. Calibrate

On the other hand, when the flow velocity of the micro robot (MCRB) is in the normal range based on the amount of current applied to the coil system as a result determined in step S80, it is fed back to the step S40 to each X axis according to the path of the preset micro robot (MCRB) The amount of current applied to the Helmholtz coil HCX, the Y-axis Helmholtz coil HCY, and the Z-axis Maxwell coil MCZ is adjusted.

Although the present invention has been described with reference to the preferred embodiments thereof with reference to the accompanying drawings, it will be apparent to those skilled in the art that many other obvious modifications can be made therein without departing from the scope of the invention. Accordingly, the scope of the present invention should be interpreted by the appended claims to cover many such variations.

1 is a block diagram showing a conventional two-dimensional planar electromagnetic drive device.

Figure 2 is a block diagram showing another conventional two-dimensional planar electromagnetic drive device.

Figure 3 is a perspective view showing a schematic configuration of a two-dimensional planar electromagnetic drive device according to an embodiment of the present invention.

Figure 4 is a plan view showing a two-dimensional planar electromagnetic drive device according to an embodiment of the present invention.

Figure 5 is a block diagram illustrating the concept of a two-dimensional planar electromagnetic drive device according to an embodiment of the present invention.

6 is a configuration diagram illustrating an example of use of a two-dimensional planar electromagnetic driving apparatus according to an embodiment of the present invention.

7 is a flow chart for explaining the operating state of the two-dimensional planar electromagnetic drive apparatus according to an embodiment of the present invention.

8 is a block diagram for comparing a two-dimensional planar electromagnetic drive device and a conventional drive device according to an embodiment of the present invention.

Figure 9 is a photograph showing a two-dimensional planar electromagnetic drive device according to an embodiment of the present invention.

10 is a configuration diagram for explaining the driving principle of a two-dimensional planar electromagnetic driving apparatus according to an embodiment of the present invention.

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

100: robot alignment unit 110: X axis Helmholtz coil

120: Y-axis helmholtz coil 200: robot propulsion unit

210: Z-axis Maxwell coil 300: Position recognition part

400: control unit S: random space

MCRB: Micro Robot a: Directional Alignment Module

b: robot propulsion module

Claims (12)

A plurality of directional alignment modules consisting of a pair of Helmholtz coils arranged opposite to any space is configured to be orthogonal to each other on a plane around the space, the robot alignment to align the micro robot (MCRB) in the advancing direction Part 100; And It includes a robot propulsion module consisting of at least a pair of Maxwell coils arranged in a plane symmetrical opposite the plane, the robot propulsion unit 200 for pushing the aligned micro robot (MCRB) in the advancing direction; and , The robot alignment unit 100 may include at least one pair of X-axis Helmholtz coils HCX disposed to face each other with respect to the space; And at least one pair of Y-axis Helmholtz coils (HCY) orthogonal to the X-axis Helmholtz coils (HCX) and disposed opposite the center of the space. The X-axis Helmholtz coil HCX is installed in the inner space of the Y-axis Helmholtz coil HCY, The robot propulsion unit 200 is a two-dimensional planar electromagnetic drive device, characterized in that the X-axis Helmholtz coil (HCX) and the Z-axis Maxwell coil (MCZ) perpendicular to the Y-axis Helmholtz coil (HCY). delete delete delete The method of claim 1, Image recognition method through X-ray to identify the location of the micro robot (MCRB), relative location information recognition method using an internal location recognition device along with a map showing the route to be passed by the micro robot (MCRB), A position recognition unit 300 using any one of a method for detecting a position by a microscope and a method for identifying position information using a camera system; And The robot alignment unit (200) may be configured to control a trajectory of the micro robot (MCRB) based on the movement information of the micro robot (MCRB) detected by the position recognition unit 300 and the route information of the micro robot (MCRB) previously input. And a control unit 400 for controlling a current supply amount of each Helmholtz coil (HCX, HCY) constituting the 100 and the Maxwell coil (MCZ) forming the robot propulsion unit (200). Device. delete The method of claim 1, The Helmholtz coil (HCX, HCY) and Maxwell coil (MCZ) is a two-dimensional planar electromagnetic drive device, characterized in that the circular coil. The method of claim 1, The Maxwell coil (MCZ) is a two-dimensional planar electromagnetic drive device, characterized in that the current direction of the coil is different from the Helmholtz coil (HCX, HCY). The method of claim 1, The X-axis Helmholtz coil (HCX) and the Y-axis Helmholtz coil (HCY) is a two-dimensional planar electromagnetic drive device, characterized in that the current direction of the coil is the same. The method of claim 1, The micro-robot (MCRB) is a two-dimensional planar electromagnetic drive device, characterized in that using any one of the magnetizable ferromagnetic (Ferro Magnet) or a magnetized permanent magnet (Permanent Magnet). delete delete

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