KR101330533B1 - Apparatus for controlling micro robot using moving stage - Google Patents

Abstract

The present invention relates to a microrobot control device using a movable stage includes a direction control coil unit which includes coaxial first and second circular coils, of which the radiuses are identical and which are separated, and which forms a uniform magnetic field region and controls a direction of a microrobot within the uniform magnetic field region; a power supply unit which supplies a current having an identical current flowing direction to the first and second circular coils for forming the uniform magnetic field region; an image monitoring unit which monitors the present position of the microrobot; and a movable stage on which the microrobot is arranged on the top surface and which is moved to make the microrobot position within the uniform magnetic field region. According to the microrobot control device using the movable stage, a working scope and a working space of the microrobot can be controlled and expanded by arranging the microrobot on the movable stage between the two circular coils and moving the movable stage and the microrobot control device can be applied for various situations. [Reference numerals] (AA,CC,EE,GG) Coil;(BB,FF) Uniform magnetic field region;(DD) Move;(HH) Stage change

Description

Apparatus for controlling micro robot using moving stage}

The present invention relates to a micro robot control apparatus using a moving stage, and more particularly, to a micro robot control apparatus capable of controlling a work space of a micro robot using the moving stage.

Recently, many researches have been conducted in the field of surgical and biotechnology using micro robots.

The control of the micro robot using the existing electromagnetic field controls the direction of the robot by forming a uniform magnetic field between the coils using Helmholtz coils and the movement speed of the robots using Maxwell coils. Related background technologies are disclosed in Korean Patent Registration No. 1128045.

1 shows an electromagnetic field in a general circular coil. When a current is applied to the circular coil, a magnetic field is generated. The intensity of the electromagnetic field generated at the center of the circular coil is largest at the center of the circular coil and gradually decreases as it moves away from the center. Using this principle, Helmholtz coils and Maxwell coils can be constructed.

2 is a configuration diagram of a conventional Helmholtz coil. The Helmholtz coil is a direction control coil for controlling the direction of the micro robot, and is composed of a pair of circular coils including coils 1,2. Referring to (a) of FIG. 2, the specifications (radius, coil winding number) of two circular coils are the same, and the distance between the two circular coils is equal to the radius R of the coil. The magnitude and direction of the current applied to the circular coil is the same for both circular coils. The micro robot must be magnetized and located in the space between the two circular coils.

As shown in (b) of FIG. 2, the strength of the magnetic field formed by the two circular coils is the sum of the magnetic fields generated in each coil. That is, when the magnetic fields formed by the two circular coils are combined, a 'uniform magnetic field region' is formed between the coils. The magnetized microrobot rotates in a direction consistent with the direction of the magnetic field within the uniform magnetic field region.

을 곱한 값과 같다. 또한 두 코일 A,B에 인가되는 전류의 크기는 동일하되 방향은 반대이다. 이는 앞서 헬름홀츠 코일의 경우와는 구별된다.3 is a configuration diagram in which the Maxwell coil is disposed in FIG. 2. Maxwell coil is a moving speed control coil that controls the moving speed of the micro robot and is composed of a pair of circular coils including coils A and B. In FIG. 3A, the inner coil is a Helmholtz coil (orange), and the outer coil is a Maxwell coil (see green). The specifications of the two coils A and B constituting the Maxwell coil (radius, coil winding number) are the same, and the distance between the two coils A and B is equal to the radius of the coil.

Is equal to the product of In addition, the currents applied to the two coils A and B have the same magnitude but the opposite directions. This is distinguished from the case of the Helmholtz coil.

Referring to FIG. 3B, the strength of the magnetic field formed by the two coils A and B is the sum of the magnetic fields generated in each coil. However, unlike the Helmholtz coil, since the current directions of the two coils A and B are opposite, the magnetic field formed by the two coils A and B is combined to form a 'uniform gradient magnetic field region' between the two coils. Here, the inclination of the uniform gradient magnetic field is an element that controls the moving speed of the microrobot, and the magnetized microrobot moves at a speed corresponding to the inclination of the magnetic field in the uniform gradient magnetic field region.

However, in the conventional micro robot control as described above, the working space in which the micro robot can move is narrow. Therefore, there is a need to expand the working area in which the micro robot can move.

An object of the present invention is to provide a micro-robot control device using a moving stage that can control the working space of the micro-robot using the moving stage.

The present invention includes coaxial first and second circular coils having the same radius and spaced apart from each other, and forms a uniform magnetic field region in a part of spaces spaced apart from each other so that the direction of the micro robot is within the uniform magnetic field region. A direction control coil unit for controlling the power supply, a power supply unit supplying current values having the same current direction to the first and second circular coils to form the uniform magnetic field region, and an image for monitoring the current position of the micro robot A microrobot control device including a monitoring unit and a moving stage on which the microrobot is disposed, and the microrobot moves to be within the uniform magnetic field area when the current position of the microrobot is outside the uniform magnetic field area. To provide.

The micro robot control apparatus may further include a current amount controller configured to determine current values of the first and second circular coils to form a uniform magnetic field region in the partial space and transmit the current values to the power supply unit.

The micro robot controller may further include a stage controller configured to determine a distance and a direction in which the current position of the micro robot deviates from the uniform magnetic field region to control displacement of the moving stage.

Here, the moving stage may be arranged in the longitudinal direction passing through the central portion of the first circular coil and the second circular coil.

In addition, the micro-robot control device includes a coaxial third and fourth circular coils disposed on the outer surfaces of the first and second circular coils, respectively, and form a uniformly inclined magnetic field region in the partial space to form the micro It may further include a speed control coil unit for controlling the speed of the robot. In this case, the power supply unit may supply current values having opposite current directions to the third and fourth circular coils to form the uniform gradient magnetic field region, respectively.

The current amount controller may determine current values of the third and fourth circular coils for forming a uniform gradient magnetic field region in the partial space and transmit the current values to the power supply unit.

According to the micro-robot control device using the moving stage according to the present invention, by placing the micro robot on the moving stage between the two circular coils and by moving the moving stage can control and expand the working distance and space of the micro robot, This has the advantage of being applicable to various applications.

1 shows an electromagnetic field in a general circular coil.
2 is a configuration diagram of a conventional Helmholtz coil.
3 is a configuration diagram in which the Maxwell coil is disposed in FIG. 2.
4 is a conceptual diagram illustrating micro robot control using a moving stage according to an embodiment of the present invention.
5 is a block diagram of a micro robot control apparatus using a moving stage according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention.

4 is a conceptual diagram illustrating micro robot control using a moving stage according to an embodiment of the present invention.

4 illustrates a direction control coil unit 110 for controlling the direction of the micro robot 10, a speed control coil unit 170 for controlling the moving speed of the micro robot 10, a movable stage 140 that can move left and right, and The micro robot 10 is shown disposed on the upper surface of the movement stage 140. Here, it is also possible to comprise only the direction control coil part except the speed control coil part as needed.

The direction control coil unit 110 is composed of first and second circular coils 111 and 112 and corresponds to a Helmholtz coil. The speed control coil unit 170 is composed of third and fourth circular coils 171 and 172 and corresponds to a Maxwell coil.

The micro robot 10 has a direction and a speed controlled by an electromagnetic field, and has a hard magnet or a soft magnet to react to the electromagnetic field.

In order to control the movement direction of the micro robot 10, a Helmholtz coil composed of the first and second circular coils 111 and 112 is used. The first and second circular coils 111 and 112 are coaxially spaced apart from each other and are parallel to each other, and the radius and the number of coil wounds are the same, and currents are applied in the same direction. Here, the distance between the two coils 111 and 112 is equal to the radius of the coil 111, but the present invention is not necessarily limited thereto.

The first and second circular coils 111 and 112 form a uniform magnetic field region in a part of spaces spaced apart from each other to control the direction of the micro robot 10 within the uniform magnetic field region. The principle of forming a uniform magnetic field has been described above with reference to FIG. 2. By using such a uniform magnetic field region, it is possible to control the moving direction of the micro robot.

In addition, the Maxwell coil composed of the third and fourth circular coils 171 and 172 is used to control the moving speed of the micro robot 10. The third and fourth circular coils 171 and 172 correspond to Maxwell coils and are disposed on outer surfaces of the first and second circular coils 111 and 112, respectively, and are disposed coaxially with each other. The third and fourth circular coils 171 and 172 have the same radius and coil winding number, and currents in opposite directions are applied thereto.

The third and fourth circular coils 171 and 172 control the speed of the micro robot 10 by forming a uniform gradient magnetic field region in the partial space on the spaced apart space. The principle of forming a uniform gradient magnetic field has been described above with reference to FIG. 3. By using the uniform gradient magnetic field region, the moving speed of the micro robot can be controlled. That is, the micro robot moves at a speed corresponding to the slope of the magnetic field within the uniform gradient magnetic field region.

In FIG. 4, although the 'uniform magnetic field region' according to the Helmholtz coil is formed in a part of the space, the uniformly inclined magnetic field region according to the operation of the Maxwell coil is also formed in the space. Of course, when the Maxwell coil is not used or operated, only a uniform magnetic field region is formed.

In general, when the current values flowing through the first and second circular coils 111 and 112 are the same, a uniform magnetic field region is formed in the center space among the spaces between the two coils 111 and 112. In addition, when the current values flowing through the third and fourth circular coils 171 and 172 are the same, a uniform gradient magnetic field region is formed in the center space among the spaces between the two coils 171 and 172.

In this case, when the current values flowing through the first and second circular coils 111 and 112 are differentiated, the position of the uniform magnetic field region may be moved from the center to the left or the right. In addition, when the current value flowing through the third and fourth circular coils 171 and 172 disposed outside the differential is given, the position of the uniformly inclined magnetic field region may also be shifted from the center to the left or the right.

FIG. 4A illustrates a case where the micro robot 10 moves out of the uniform magnetic field region (or uniform gradient magnetic field region) by moving in the direction of the magnetic field in the uniform magnetic field region. In this case, as shown in FIG. 4B, when the moving stage 140 moves in a direction opposite to the moving direction of the micro robot 10, the micro robot 10 enters into a uniform magnetic field region (or uniform gradient magnetic field region). Come.

In this embodiment, the work stage of the micro robot 10, that is, the moving stage 140 may be moved to control and expand the work area of the robot.

On the other hand, as described above, when the current values for the two coils paired with each other, the position of the uniform magnetic field region (or uniform gradient magnetic field region) has been described to move to the left or right. Even when the magnetic field region moves and the robot moves out of the region, moving the moving stage 140 may control the robot to be positioned in the changed uniform magnetic field region (or uniform gradient magnetic field region).

In addition, the movement stage 140 and the micro robot 10 may be in place and the entire coil may be moved left and right. In this case, the effect of the micro robot 10 being relatively in place is out of the uniform magnetic field region. Occurs. Even in this case, the moving stage 140 may be moved to control the micro robot 10 to enter the uniform magnetic field region (or the uniform gradient magnetic field region).

Hereinafter, a microrobot control apparatus using a moving stage according to an embodiment of the present invention will be described based on the above contents. 5 is a block diagram of a micro robot control apparatus using a moving stage according to an embodiment of the present invention.

Referring to FIG. 5, the microrobot control device 100 includes a direction control coil unit 110, a power supply unit 120, an image monitoring unit 130, a moving stage 140, a current amount control unit 150, and a stage control unit. 160.

The direction control coil unit 110 includes first and second circular coils 111 and 112, and as described above, forms a uniform magnetic field region in a part of spaces spaced between the first and second circular coils 111 and 112. To control the orientation of the microrobot 10 within the uniform magnetic field region. That is, the micro robot 10 moves in the magnetic field direction (see arrow; right direction) indicated in the uniform magnetic field region. In FIG. 6, it can be seen that in the case of the uniform magnetic field region, the magnetic field size is the same (the arrow length is the same) unlike other peripheral regions.

The power supply unit 120 supplies current values having the same current direction to the first and second circular coils 111 and 112 to form the uniform magnetic field region, respectively. That is, the power supply unit 120 provides a current value to each coil so that the first and second circular coils 111 and 112 operate as Helmholtz coils.

As described above, when the same current value is applied to the first and second circular coils 111 and 112, a uniform magnetic field region is formed at a central point between the two coils 111 and 112, and when a differential is applied to the current values. The position of formation of the uniform magnetic field region may be adjusted left or right from the center point.

The current amount controller 150 determines current values of the first and second circular coils 111 and 112 for forming a uniform magnetic field region in the partial space, and transmits them to the power supply unit 120. Accordingly, the power supply unit 120 separately supplies each current value determined by the current amount control unit 150 to the first and second circular coils 111 and 112.

The image monitoring unit 130 is a part for monitoring the current position of the micro robot 10. Of course, the image monitoring unit 130 may detect the speed and direction based on the position of the micro robot 10 over time.

The moving stage 140 is disposed in the longitudinal direction passing through the central portions of the first circular coil 111 and the second circular coil 112. The micro robot 10 is disposed on the upper surface of the movement stage 140. That is, the movement stage 140 includes a work area of the micro robot 10.

As in the case of FIG. 4, when the current position of the micro robot 10 is out of the uniform magnetic field region, the moving stage 140 moves itself so that the micro robot 10 is located in the uniform magnetic field region. According to this movement stage 140, the micro robot 10 is always located in the uniform magnetic field region. The movement of the movement stage 140 is specifically under the control of the stage controller 160.

The stage controller 160 compares the current position of the micro robot 10 detected by the image monitoring unit 130 with the position of the uniform magnetic field region, and the current position of the micro robot 10 is the uniform magnetic field region ex. The distance and direction deviating from the center of the uniform magnetic field region) are determined, and the displacement of the moving stage 140 is controlled based on the distance and direction. As an example, the movement stage 140 moves by the distance traveled by the micro robot 10 but moves in a direction opposite to the moving direction of the robot 10 so that the micro robot 10 is always located in the uniform magnetic field region. do.

Here, the stage controller 160 may know the position of the uniform magnetic field region in advance. For example, when the same current flows through the two circular coils 111 and 112, a uniform magnetic field region is formed at a central point between the two coils 111 and 112. In this case, the stage controller 160 only needs to recognize that the uniform magnetic field region is always formed at the center point.

If less current flows in the first circular coil 111 than the second circular coil 112, a uniform magnetic field region is formed closer to the first circular coil 111 (or vice versa). Formed closely). When the position of the uniform magnetic field region is changed according to the amount of current of each coil as described above, the stage controller 160 preforms the formation position of the uniform magnetic field region corresponding to the amount of current supplied to the two coils 111 and 112 in advance, and then the amount of current. When the current amount supplied to each of the coils 111 and 112 in cooperation with the controller 150 is compared with the DB, it is possible to know the current formation position of the uniform magnetic field region.

In the case of Fig. 5, one axis is controlled using a pair of coils, but the present invention is not necessarily limited thereto. That is, a two-dimensional or three-dimensional coil system by arranging a second pair or a third pair of coils in a direction (ex, y-axis or z-axis) orthogonal to the current first pair of coil axes (ex, x-axis). It can be extended to.

For convenience of description, FIG. 5 omits the configuration of the speed control coil unit (Maxwell coil) composed of the third and fourth circular coils. When the speed control coil unit is added to FIG. 5, the third and fourth circular coils are disposed on the outer surfaces of the first and second circular coils 111 and 112, respectively. According to this, a uniform gradient magnetic field region may be formed in the partial space to control the moving speed of the micro robot 10 in the uniform gradient magnetic field region.

Here, the power supply unit 120 supplies current values having opposite current directions to the third and fourth circular coils to form a uniform gradient magnetic field region in the partial space. That is, the power supply unit 120 provides a current value to each coil so that the third and fourth circular coils operate as Maxwell coils. Of course, in the same principle as above, the current amount controller 150 determines the current values of the third and fourth circular coils for forming a uniform gradient magnetic field region in the partial space and transmits the current values to the power supply unit 120. .

According to the control method of the micro robot using the moving stage according to the present invention as described above, by placing the micro robot on the moving stage between the two circular coils and by moving the moving stage to control and expand the working distance and space of the micro robot Based on this, there is an advantage that can be applied to various applications (ex, surgical surgery, biotechnology).

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: micro robot control method using a moving stage
110: direction control coil 120: power supply
130: video monitoring unit 140: moving stage
150: current amount control unit 160: stage control unit
170: speed control coil

Claims (6)

A coaxial first and second circular coil having the same radius and spaced apart from each other, and forming a uniform magnetic field region in a part of spaces spaced apart from each other to control the direction of the micro robot in the uniform magnetic field region Control coil unit;
A power supply unit supplying current values having the same current direction to first and second circular coils to form the uniform magnetic field region;
An image monitoring unit for monitoring a current position of the micro robot; And
And a moving stage disposed on an upper surface of the micro robot and moving the micro robot to be within the uniform magnetic field region when the current position of the micro robot is outside the uniform magnetic field region. The method according to claim 1,
And a current amount controller configured to determine current values of the first and second circular coils to form a uniform magnetic field region in the partial space and transmit the current values to the power supply unit. The method according to claim 2,
And a stage controller which controls a displacement of the moving stage by determining a distance and a direction in which the current position of the micro robot deviates from the uniform magnetic field region. The method according to claim 3,
The moving stage includes:
And a micro robot control device disposed in a longitudinal direction penetrating the central portions of the first circular coil and the second circular coil. The method of claim 4,
Velocity control nose including coaxial third and fourth circular coils disposed on the outer surfaces of the first and second circular coils, respectively, to form a uniform gradient magnetic field region in the partial space to control the speed of the micro robot. Include some more,
The power supply unit,
And a current supplying current values having opposite current directions to third and fourth circular coils to form the uniform gradient magnetic field region. The method according to claim 5,
The current amount control unit,
And controlling the current values of the third and fourth circular coils to form a uniform gradient magnetic field region in the partial space and transferring the current values to the power supply unit.

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