KR101962043B1 - A sphericon-shaped magnetic millirobot rolling on a surface actuated by an external wobbling magnetic field - Google Patents

Abstract

The present invention relates to a sphericon-shaped millirobot (SSMM) operated by an external wobbling magnetic field. An objective of the present invention is to provide a new type of rolling magnetic robot that can move stably and effectively on a surface by rolling the SSMM. At the same time, disclosed is a new type of external wobbling magnetic flied (EWMF) to operate the SSMM. Moreover, stability of the SSMM operation is verified by the disclosed EWMF. According to the present invention, the sphericon-shpaed millirobot operated by external wobbling magnetic field is expected to be used in various medical fields such that the sphericon-shaped millirobot is used to deliver drugs, compose the drugs, and control fluids.

Description

A SPHERICON-SHAPED MAGNETIC MILLIROBOT ROLLING ON A SURFACE ACTUATED BY AN EXTERNAL WOBBLING MAGNETIC FIELD,

The present invention relates to a magnetic-millimeter-type robot of the type of a spin-coil, which is actuated by an external shaking magnetic field, and which is acted upon by a force exerted in a linear direction by a applied external shaking magnetic field and not in a direction outside a straight line.

Specifically, the assembly in the form of a beacon is sliced from one vertex to the other vertex, which is the central axis, to be cut, and the magnetic grooves are formed so that the threaded linear magnets can be inserted into one cut- And protrusions and grooves are formed at mutually facing positions of the cut surfaces of the two cut portions,

A shape of a rolling cone formed by rotating any one of the two cut parts by 90 ° so as to position the protrusions formed on one part and the grooves formed on the other one part so as to face each other, To the magnetic milling robot of the type of the spinnaker.

The magnetic robot can be inserted inside the human body to perform a medical action.

Particularly, the magnetic robot is small in size, so it is easy to carry out a medical operation for a part where the doctor moves directly inside the human body to diagnose a disease or deliver medication.

As described above, the magnetic robots used for various purposes are composed of small units and operate through the magnetic force applied from the outside. Since they are constituted by the minute size in millimeters, there is a problem that it is difficult to precisely induce the operation by using only the magnetic force In addition, when the robot is stopped at a specific position for the purpose of drug delivery or treatment, a predetermined energy (magnetic force) is excessively consumed so as to prevent the position from being changed by the flow of fluid (for example, There is a problem to be done.

In order to solve such a problem, the present applicant has proposed a structure in which a structure of a spiricone type having a linear direction and advancing or retracting is formed in the form of a robot to enable precise guidance, And to maintain the self-position for a long time by only maintaining the posture of the object to which the robot is inserted by utilizing the property of staying in the other direction.

On the other hand, there is no technique for providing a magnet to a robot in the form of a spiral cone to induce the motion of the robot through a magnetic force applied from the outside.

However, as a technology for implementing an algorithm for guiding the operation of a robot by a magnetic force, a medical device, a medical device guiding system, a capsule medical device, and a capsule medical device guiding device of Patent Document 10-2006-0036112 are disclosed However,

The above-described technique differs from the algorithm developed by the present applicant in the algorithm for deriving the robot's operation as well as the robot's operation.

Published Patent Application No. 10-2006-0036112 (April 27, 2006)

SUMMARY OF THE INVENTION It is an object of the present invention to provide a magnetic millimeter-type robot which is operated by an external shaking magnetic field and which is moved forward or backward in a linear direction by an applied external shaking magnetic field, SSMM).

Structurally,

A BICONE type assembly is sliced and cut from one vertex to another vertex as a central axis, a magnet groove is formed so that the threaded linear magnet can be inserted into one cut surface of the two cut parts, Projections and grooves are formed at mutually opposing positions of the cut surfaces of the two portions,

A shape of a rolling cone formed by rotating any one of the two cut parts by 90 ° so as to position the protrusions formed on one part and the grooves formed on the other one part so as to face each other, A magnetic milling robot of the type having a spiral shape is operated by applying an external shaking magnetic field to the magnetic milling robot,

Effectively,

A new type of rolling magnetic robot is proposed in which a magnetic millimeter robot (SSMM) in the form of a spin-on cone can roll and move on the surface in a stable and effective manner. In addition, a magnetic milling robot (SSMM) (EWMF), and verifying the stability of the operation of the magnetic millimeter robot (SSMM), which is operated by the proposed EWMF,

(SSMM), which is operated by an external shaking magnetic field, which can be expected in various medical applications such as drug delivery, drug delivery, fluid control, and the like.

In order to achieve the above-mentioned object, a magnetic milling robot (SSMM) of a spin-on type operated by an external shaking magnetic field according to the present invention is a magnetic milling robot having a spin- And includes a magnet inside, and performs a rolling operation by an external magnetic field applied from the outside to go straight or backward.

In this case, the SSMM is a type of a spinicon type robot that slices and cuts an assembly of a BICONE type, and then rotates the other one by 90 degrees on the basis of one thing.

Further, the magnet is a cylindrical NdFeB magnet having a magnetism of 955,000 A / m, a diameter of 2 mm and a length of 2 mm.

Also, the vertex angle of the BICONE type assembly is 90 [deg.].

In addition, assuming that the magnetic millimeter robot SSMM is located at the starting point, the semicircular outer arc T _i formed by the motion in the y-axis direction and conical motion is expressed by the following equation.

는 i번째 호에서의 x축으로부터 SSMM의 순간 중심 회전선의 각도이다. 이러한 각

는 SSMM이 동작함에 따라

에서

라디안까지 연속적으로 변한다.)(Where r is the radius of the SSMM,

Is the angle of the instantaneous centerline of the SSMM from the x-axis in the i-th arc. These angles

As SSMM operates,

in

Continuously changes to radians.)

Also, when the magnetic millimeter robot SSMM linearly moves, the EWMF capable of generating the y direction motion of the robot in the x and y axis planes is calculated by the following equation.

(Where B ₀ is the magnitude of the EWMF and ω is the angular velocity of the EWMF) The above and below equations show that the SSMM moves in the y direction to move the odd and even arcs out of the semi- It corresponds to the SSMM.

The EWMF conditions for operating the magnetic millimeter robot (SSMM) on the inclined plane are the surface angle (α) from the x and y axis planes and the rolling angle of the magnetic milling robot (SSMM) Is calculated by the following equation using the direction angle [beta].

In addition, the magnetic milling robot (SSMM) of the above-mentioned type is made of ultraviolet curable acrylic plastic.

The magnetic milling robot SSMM in the form of a spin-coil operates on the surface of any one of a rubber plate having a static friction coefficient of 0.84 or a silicon plate having a static friction coefficient of 0.36.

In addition, the conditions of EWMF for operating the above-mentioned magnetic resonance type magnetic milling robot (SSMM) are B ₀ = 10mT and ω = 2π rad / s (1Hz).

At this time, the maximum surface angle (?) Condition at which the magnetic milling robot (SSMM) in the form of a spin-ribbon can operate is the surface angle? Of 35 占 when the surface on the rubber plate is rolling, The surface angle α is 20 ° and these values are decreased as the rolling direction angle β of the magnetic millimeter robot SSMM in the y-axis direction is increased.

According to the magnetic millimeter robot of the type of the spiricon operated by the external shaking magnetic field according to the present invention, the magnetic-type millimeter robot (SSMM) in the form of a spinning wheel can be rolled and can move stably and effectively on the surface. A new type of external rocking magnetic field (EWMF) is proposed for operating the magnetic millimeter robot (SSMM) of the present invention in the form of a spinnaker, and a magnetic milling robot (SSMM) operation,

Expansion in various medical applications, such as drug delivery, drug delivery, and fluid control, is expected.

Accordingly, in the present invention, when a magnetic field is applied to the robot configured in the above-mentioned type of the spinnaker, it is operated in a linear direction, and when the magnetic field is not applied,

In a robot used for drug delivery or fluid control, when a robot is held in a posture of an object (human body or the like) into which the robot is put, it is possible to maintain the position for a long time and to achieve an efficient object do.

Accordingly, when the robot is required to maintain its position for a long time, there is no waste of energy for maintenance.

FIG. 1 shows a magnetic millimeter (SSMM) in the form of a spinnaker operated by an external shaking magnetic field according to the present invention. The magnetic milling robot forms a magnetic milling robot (SSMM) in the form of a spin- Fig.
FIG. 2 is a view for explaining a geometric center transformation of a magnetic milling robot (SSMM) in the form of a spiricon operated by an external shaking magnetic field according to the present invention.
3 shows the EWMF required to generate the operation of the rolling cone of the magnetic milling robot (SSMM) in the shape of the spinnaker shown in Fig.
Fig. 4 shows a setting of a navigation system necessary for operating a magnetic milling robot (SSMM) in the form of a spike.
Fig. 5 shows a magnetic millimeter robot (SSMM) in the form of a spiricon used in the experiment.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings and the inventor can properly define the concept of the term to describe its invention in the best possible way And should be construed in accordance with the principles and meanings and concepts consistent with the technical idea of the present invention.

Therefore, the embodiments described in the present specification and drawings are only the most preferred embodiments of the present invention and are not intended to represent all of the technical ideas of the present invention. Therefore, various equivalents And variations are possible.

Before describing the present invention with reference to the accompanying drawings, it should be noted that the present invention is not described or specifically described with respect to a known configuration that can be easily added by a person skilled in the art, Let the sound be revealed.

The present invention relates to a Sphericon-Shaped Magnetic Milli-Robot (SSMM) operated by an external shaking magnetic field.

Specifically, the assembly in the form of a beacon is sliced from one vertex to the other vertex, which is the central axis, to be cut, and the magnetic grooves are formed so that the threaded linear magnets can be inserted into one cut- And protrusions and grooves are formed at mutually facing positions of the cut surfaces of the two cut portions,

A shape of a rolling cone formed by rotating any one of the two cut parts by 90 ° so as to position the protrusions formed on one part and the grooves formed on the other one part so as to face each other, To the magnetic milling robot of the type of the spinnaker.

In this case, the Spherical-Shaped Magnetic Milli-robot (SSMM), which is a type of spin-coil, moves forward or backward in a linear direction when a magnetic field is applied from outside, and operates in a direction other than a straight line The force to withstand is applied.

In addition, the apex angle of the vertex of the assembly in the form of BICONE is constituted by 90 degrees.

Accordingly, in the present invention, when a magnetic field is applied to the robot configured in the above-mentioned type of the spinnaker, it is operated in a linear direction, and when the magnetic field is not applied,

In a robot used for drug delivery or fluid control, when a robot is held in a posture of an object (human body or the like) into which the robot is put, it is possible to maintain the position for a long time and to achieve an efficient object do.

Accordingly, when the robot is required to maintain its position for a long time, there is no waste of energy for maintenance.

The magnetic millimeter-type robot (SSMM) of the type of the spiricon operated by the external shaking magnetic field according to the present invention can be referred to FIG. 1 of the accompanying drawings.

FIG. 1 shows a magnetic millimeter (SSMM) in the form of a spinnaker operated by an external shaking magnetic field according to the present invention. The magnetic milling robot forms a magnetic milling robot (SSMM) in the form of a spin- Fig.

1 of the accompanying drawings,

The magnetic milling robot (SSMM) according to the present invention has two symmetrical semicircles having four identical sizes with respect to the axis perpendicular to the cutting axis, And the remaining two semicircles are symmetrically formed so as to be inclined at an angle of 90 [deg.], So that a total of four consecutive conical motions (Arc1 to Arc4 in Fig. 1) can be moved in a linear direction. Arc5 and Arc6 in FIG. 1 are two consecutive conical motions.

At this time, the conical motion means that the outer circumferential surfaces of the four semicircular circles move while touching the ground surface. The movement of the outer circumferential surface while touching the ground can refer to the instantaneous line of rotation shown in FIG. 1 (d). And the operation of linear motion through such conical motion is referred to as a rolling motion.

1 (e), assuming that the SSMM according to the present invention is located at the starting point (near Arc1) of the x, y plane, the semi-circular outer arc T _{i, which} is the Wobbling motion shown in FIG. 1 (e), can be expressed by the following equation.

는 i번째 호에서의 x축으로부터 SSMM의 순간 중심 회전선의 각도이다.Where r is the radius of the SSMM,

Is the angle of the instantaneous centerline of the SSMM from the x-axis in the i-th arc.

는 SSMM이 동작함에 따라

에서

라디안까지 연속적으로 변한다.These angles

As SSMM operates,

in

Continuously changes to radians.

The transformation of the geometric center of the SSMM with magnets in this [Equation 1] can be derived as shown in FIG.

FIG. 2 is a view for explaining a geometric center transformation of a magnetic milling robot (SSMM) in the form of a spiricon operated by an external shaking magnetic field according to the present invention.

That is, FIG. 2 shows the geometric center of the SSMM with the unit radius (r = 1) and the quadrature of the rolling cone motion, and the geometric center of the SSMM changes semi-sinusoidally during the operation of the rolling cone .

Referring to FIGS. 2 and 1 (e), SSMM moves on the surface of a wobbling motion in which the geometric center of the SSMM changes into an anti-sinusoidal shape, .

At this time, the SSMM according to the present invention develops the entire surface through line contact where every point and line of the hemisphere touches the surface every rotation. Thereby allowing the SSMM to perform a stable operation supported by a relatively large maximum static frictional force.

In this way, when the SSMM is operated along any direction (straight or reverse) of the surface, it can be regarded that the direction of the magnet inserted in the robot always follows the direction in which it is applied based on the magnetic torque equation.

Therefore, the Ewxternal wobbling magnetic field (EWMF), which is a field that can accurately generate the y-direction wobbling motion of the robot in the horizontal x and y planes in Equation 1 and the mechanical constraints of the SSMM, Can be calculated through Equation (2).

Where B ₀ is the magnitude of the EWMF and ω is the angular velocity of the EWMF.

Further, the above and below equations correspond to the robot moving on the odd and even arcs shown in Fig. 1 (e).

In addition, the EWMF condition required for the SSMM to generate the rolling motion on the slope surface at any surface can be calculated using Equation (3) using a rotation matrix.

That is, the EWMF condition is calculated by using Equation (3) using the surface angle (?) From the x, y axis plane and the rolling direction angle (?) Of the magnetic milling robot (SSMM) .

Where alpha is the surface angle from the horizontal xy plane and beta is the angle in the rolling direction of the SSMM from the y axis on the surface.

3 shows an example of an EWMF (? = 0,? = 0) having an angular velocity of 2? Rad / s (1 Hz), which is a unit size capable of generating a y-axis rolling motion of the SSMM shown in Fig.

That is, FIG. 3 shows the EWMF required to generate the operation of the rolling cone of the SSMM shown in FIG.

Hereinafter, results of experiments performed to verify the SSMM and EWMF described above are shown.

SSMM has developed a navigation system to generate and control various EWMFs needed to operate in various surface conditions.

This can be referred to FIG. 4 of the accompanying drawings, which shows the setup of the navigation system necessary to operate the SSMM, wherein the MNS comprises three pairs of uniform coils capable of generating a uniform magnetic field along the axis (x-axis Helmholtz Coil, HC), a y-axis uniform saddle coil (USCy), and a z-axis uniform saddle coil (USCz).

Each of these coils is connected to a programmable power supply integrated into the control panel.

Experiments were conducted through a navigation system based on FIG. 4 of the accompanying drawings, and the results as shown in Table 1 were obtained.

Coil Radius (mm) Wire diameter (mm) Coil turns x-axis HC 216.0 1.0 430 y-axis USCy 167.5 1.2 400 z-axis USCz 133.8 1.2 320

Based on this, it was found that the rolling operation of the SSMM can be effectively controlled by using the respective coil currents according to Equation (2) and Equation (3).

Here, the SSMM used in this experiment can be referred to FIG. 5 of the accompanying drawings, and FIG. 5 shows the SSMM used in the experiment.

SSMM according to FIG. 5 employs SSMM1 with r = 10 mm and SSMM2 with r = 5, which are made of ultraviolet curing acrylic plastic using a three-dimensional printing technique based on multi-jet molding.

FIG. 5A shows SSMM1 and SSMM2, FIG. 5B shows a rolling operation of SSMM1 and SSMM2 in a square circuit, FIG. 5C shows a deviation angle between the desired rolling direction of the SSMM and the observed rolled- .

This SSMM has inserted a cylindrical NdFeB magnet having a magnetization of 955,000 A / m, a diameter of 2 mm, and a length of 2 mm. In addition, to evaluate the SSMM rolling ability under various conditions, a rubber with a static friction coefficient of 0.84 and a silicone plate of 0.36 were used on the surface where the SSMM was rolled.

The angle of the surface (α, see FIG. 4) with respect to the horizontal xy plane was changed using an angle adjusting jig made of non-magnetic material.

And to observe the rolling behavior of the SSMM along the path programmed in horizontally arranged rubber plates to verify the EWMF as in Figure 5 of the accompanying drawings.

When EWMF with values of B ₀ = 10mT, ω = 2π rad / s, α = 0 and β = 0 was applied, SSMM1 confirmed that the swing motion described in FIGS.

When SSMM1 is changed to 90 deg., 180 deg., And 270 deg., Respectively, it can be seen that SSMM1 rolls along the x and y axis directions and operates along the arrow direction of Figure 5 (b). When given the same EWMF , SSMM2 having half the diameter of SSMM1 operates in the same direction as SSMM1 but operates at half the distance.

Based on these results, it can be seen that the rolling distance of the SSMM is proportional to the radius of the SSMM, and based on this, if the same EWMF is applied, the SSMM1 with a larger radius operates twice as much distance as the SSMM2 with a smaller radius .

In addition, the maximum deviation angle [phi] between the desired rolling direction programmed based on Figure 5 (c) and the rolling direction actually observed in operation was measured to be less than 5 [deg.].

On the other hand, gravity at any surface can slip during the rolling motion of the SSMM, leaving the desired path.

Although the control method or the compensated EWMF can be applied to prevent such a situation, the conditions under which the SSMM can continuously generate the rolling motion include the surface angle (α) and the rolling angle (α) in consideration of the static frictional force of the rolling object on the inclined surface Can be regarded as depending on the direction (?).

Accordingly, in the present invention, the SSMM gradually changes the angle in the rolling direction in the horizontal xy plane and the y axis, thereby measuring the critical surface condition that the SSMM can generate a relatively accurate rolling motion.

To minimize the SSMM inertia effect, a relatively slow EWMF with B ₀ = 10mT and ω = 0.2π rad / s (0.1Hz) was applied.

Table 2 below shows the critical conditions of the rubber and silicon plates in which the SSMM used in this experiment can roll along the desired path with a deviation of less than 5 °.

SSMM Rubber plate (μ = 0.84) Silicone plate (μ = 0.36) α (deg.) β (deg.) α (deg.) β (deg.)
SSMM1 (r = 10 mm) 15 50 10 40 25 40 15 30 35 25 20 20
SSMM2 (r = 5 mm) 15 35 10 30 25 25 15 20 35 10 20 10

Based on the results of [Table 2], it was found that the maximum surface angles of the rubber and silicon plates that the SSMM could cause rolling motion were 35 ° and 20 °, respectively.

The maximum value of β of SSMM1 and SSMM2 decreases as the surface angle α increases. In this case, as the maximum value of β increases, the direction of frictional force for SSMM rolling motion and the gravity The SSMM can deviate from the desired direction due to the increased net force.

Therefore, the proposed results in [Table 2] indicate that SSMM can move on any surface operated by EWMF if the specific surface conditions of rolling speed, constant friction coefficient, surface angle and rolling direction are satisfied ,

In particular, it was found that the maximum value of? Was 35 ° and 20 ° for SSMM1 and SSMM2, respectively.

It is obvious that the present invention is not limited to the structure of the drawings, as it is possible to design variously within the technical scope of the present invention.

Claims (11)

delete As a magnetic millimeter (SSMM) in the form of a spinnaker in the form of a beacon (BICONE) assembly sliced and reassembled after rotating one of the other by 90 °,
Characterized in that it includes a magnet in a magnet groove formed on one side of the cut inner surface and performs a rolling operation by an external magnetic field applied from the outside,
When it is assumed that the SSMM is located at the starting point, the semicircular outer peripheral arc T_iIs expressed by the following equation: < EMI ID = 1.0 >

(Where r is the radius of the SSMM,

Is the angle of the instantaneous centerline of the SSMM from the x-axis in the i-th arc. These angles

As SSMM operates,

in

 Continuously changes to radians.)
The method of claim 2,
Wherein the magnet comprises:
A cylindrical NdFeB magnet having a magnetism of 955,000 A / m, a diameter of 2 mm, and a length of 2 mm, and is operated by an external shaking magnetic field.
The method of claim 2,
A magnetic millimeter-type robot in the form of a spinicon, which is operated by an external shaking magnetic field, wherein the vertex angle of the BICONE-type assembly is 90 °.
delete The method of claim 2,
Wherein the EWMF capable of generating the y direction motion of the robot in the x, y axis plane when the SSMM is linear motion is calculated by the following equation: Magnetic milling robots.

(Where B ₀ is the magnitude of the EWMF and ω is the angular velocity of the EWMF) The above and below equations show that the SSMM moves in the y direction to move the odd and even arcs out of the semi- It corresponds to the SSMM.
The method of claim 6,
Wherein an EWMF condition for operating the SSMM on an inclined plane is calculated by the following equation using a surface angle from an x, y axis plane and an angle of a rolling direction of an SSMM from a y axis: A magnetic millimeter robot in the form of a spiricon that is operated by an external shaking magnetic field.

The method of claim 2,
Characterized in that the SSMM is made of an ultraviolet curable acrylic plastic and is operated by an external shaking magnetic field.
The method of claim 8,
Characterized in that the SSMM is rolling on the surface of either a rubber plate having a static friction coefficient (mu) of 0.84 or a silicon plate having a static friction coefficient (mu) of 0.36.
The method of claim 9,
The SSMM EWMF conditions for this operation, ₀ B = 10mT, and ω = 2π rad / s (1Hz ) , characterized in that, the external magnetic field, fluctuation of the magnetic type silicon RY mm robot operated by.
The method of claim 10,
The maximum surface angle (?) Condition in which the SSMM is operable is the surface angle (?) When the surface on the rubber plate is rolling and the surface angle (?) When the surface on the silicon plate is rolling ,
Wherein the surface angle? Is reduced as the rolling direction angle? Based on the y-axis of the SSMM increases. The magnetic millimeter-type robot according to claim 1, wherein the surface angle?

Images