KR102289065B1 - Magnetic navigation system and method for controlling micro robot using the system - Google Patents

Abstract

A magnetic drive system is disclosed. The magnetic drive system includes a first magnetic field generator; a second magnetic field generator disposed to face the first magnetic field generator with an operation region interposed therebetween; and a moving module for moving the first magnetic field generator and the second magnetic field generator.

Description

Magnetic drive system and micro-robot control method using the same

The present invention relates to a magnetic drive system and a microrobot control method using the same, and more particularly, to a magnetic drive system capable of controlling the movement of a magnetic robot.

A magnetic robot equipped with a magnet inside is driven by receiving magnetic torque and magnetic force by the external magnetic field generated by the magnetic drive system. Representative examples include magnetically driven capsule endoscopes applied to the digestive system, magnetic catheters applied to cardiac arrhythmias, etc. In addition, magnetic robots for vascular therapy for occlusive vascular treatment, micro-robots for intraocular drug delivery, and intra-tissue targets and magnetic nanoparticles for drug delivery.

As described above, the position of the body part and the lesion part to which the magnetic robot is applied is very diverse. The core of driving and controlling such a magnetic robot is a magnetic drive system that generates an external magnetic field. However, the existing magnetic drive systems inefficiently generate and control the magnetic field because the position and arrangement of the electromagnets that generate the magnetic field are fixed, so the position and characteristics of the lesion cannot be considered. In addition, the magnetic drive system is very heavy and has a large volume, which places great restrictions on storage and placement. The limitations of such a magnetic field drive system lead to limitations such as diseases applicable to magnetic robots and possible movements.

The present invention provides a magnetic drive system capable of optimizing the position and size of an operating area according to a lesion area.

In addition, the present invention provides a magnetic drive system capable of tracking the movement of the micro-robot by being in close contact with the body.

In addition, the present invention provides a micro-robot control method capable of tracking and controlling the movement of the micro-robot using a magnetic drive system.

A magnetic drive system according to the present invention includes a first magnetic field generator; a second magnetic field generator disposed to face the first magnetic field generator with an operation region interposed therebetween; and a moving module for moving the first magnetic field generator and the second magnetic field generator.

In addition, the first magnetic field generating unit, a ring-shaped first back yoke; a first core coupled to the first back yoke; and a first coil wound around the first core, wherein the second magnetic field generator includes: a ring-shaped second back yoke; a second core coupled to the second back yoke; and a second coil wound around the second core.

Also, the moving module may move the first magnetic field generator and the second magnetic field generator so that a central axis of the first back yoke and a central axis of the second back yoke are positioned on the same line.

In addition, the moving module may adjust a distance between the first back yoke and the second back yoke in the central axis direction.

In addition, the moving module may include a body having a support shaft; a rotary arm coupled to the support shaft and rotatable about the support shaft; a pair of connecting arms respectively mounted on the front end of the rotary arm and rotatable about a first axis; a first support arm mounted on a front end of one of the connecting arms, rotatable with respect to the connecting arm about a second axis parallel to the first axis, and supporting the first back yoke; and a second support arm mounted on the other end of the connecting arm, rotatable with respect to the connecting arm about a third axis parallel to the first axis, and supporting the second back yoke. .

In addition, the rotary arm may include a first region coupled to the support shaft; and a second region that connects the first region and the connection arms and is rotatable with respect to the first region about a second axis parallel to the longitudinal direction of the rotating arm.

In addition, the magnetic field formed in the operation region, the first core, the first back yoke, the first support arm, the pair of support arms, the second support arm, the second back yoke, the second core The magnetic field formed in the can form a closed magnetic circuit.

Also, the first back yoke and the second back yoke may have the same outer diameter.

In addition, the first back yoke may have a larger outer diameter than the second back yoke, a cross-sectional area larger than that of the second back yoke, and the first core may have a larger cross-sectional area than the second core.

In addition, it obtains the location information of the target located in the operation area, further comprising a control unit for controlling the moving module so that the central axis of the first back yoke and the central axis of the second back yoke are located on the same line with the target can do.

In addition, the first back yoke is pin-coupled to the first core, the second back yoke is pin-coupled to the second core, and the first back yoke and the second back yoke are each pin-coupled to the pin. may be able to rotate.

According to the present invention, a micro-robot control method using a magnetic drive system includes: planning a movement path of the micro-robot to a lesion area through only image information captured by an image capturing unit; The first magnetic field generating unit and the second magnetic field generating unit of the magnetic drive system are disposed to face each other with the area in which the microrobot is located, and an operation area is created in the space between the first magnetic field generating unit and the second magnetic field generating unit a magnetic drive system arrangement step; and a remote operation step of moving the first magnetic field generator and the second magnetic field generator so that the operation area moves along the movement path of the micro-robot.

In addition, the first magnetic field generating unit, a ring-shaped first back yoke; a first core coupled to the first back yoke; and a first coil wound around the first core, wherein the second magnetic field generator includes: a ring-shaped second back yoke; a second core coupled to the second back yoke; and a second coil wound around the second core, wherein the remote treatment step includes: the first magnetic field generator and the first magnetic field generator so that the central axes of the first and second back yokes coincide with the positions of the micro-robot. The second magnetic field generator may be moved.

In addition, in the remote treatment step, the first magnetic field generating unit and the second magnetic field generating unit may swing and move on the XY plane parallel to the ground.

In addition, in the remote treatment step, the first magnetic field generating unit and the second magnetic field generating unit may be individually moved in the Z-axis direction perpendicular to the ground.

According to the present invention, since the first magnetic field generating unit and the second magnetic field generating unit generate an operating region with the lesion part interposed therebetween, and the distance between the first magnetic field generating unit and the second magnetic field generating unit is adjusted by the moving module, the lesion part is formed. It is possible to create an operating area that is optimized for

In addition, according to the present invention, since the first magnetic field generator and the second magnetic field generator are in close contact with the body by the driving of the moving module, and the first magnetic field generator and the second magnetic field generator are moved according to the movement of the microrobot, the micro robot It can move the operating area by tracking the movement of

In addition, according to the present invention, since the operating area moves along the movement path of the micro-robot, it is possible to continuously control the micro-robot in real time.

1 is a perspective view showing a magnetic drive system according to a first embodiment of the present invention.
FIG. 2 is a front view illustrating the magnetic drive system of FIG. 1 .
3 is a diagram illustrating a size distribution of a magnetic field and a size of an operation region generated according to a distance between a first magnetic field generator and a second magnetic field generator;
4 and 5 are diagrams illustrating a process in which the first magnetic field generator and the second magnetic field generator control the micro-robot.
6 to 8 are diagrams illustrating movements of the first magnetic field generator and the second magnetic field generator.
9 is a front view showing a magnetic drive system according to a second embodiment of the present invention.
10 is a cross-sectional view illustrating a first magnetic field generator and a second magnetic field generator according to a third embodiment of the present invention.
11 is a perspective view illustrating a first magnetic field generator and a second magnetic field generator according to a fourth embodiment of the present invention.
12 is a flowchart illustrating a process of performing a vascular intervention using a magnetic drive system according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the technical spirit of the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In this specification, when a component is referred to as being on another component, it means that it may be directly formed on the other component or a third component may be interposed therebetween. In addition, in the drawings, thicknesses of films and regions are exaggerated for effective description of technical content.

In addition, in various embodiments of the present specification, terms such as first, second, third, etc. are used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one component from another. Accordingly, what is referred to as a first component in one embodiment may be referred to as a second component in another embodiment. Each embodiment described and illustrated herein also includes a complementary embodiment thereof. In addition, in the present specification, 'and/or' is used to mean including at least one of the elements listed before and after.

In the specification, the singular expression includes the plural expression unless the context clearly dictates otherwise. In addition, terms such as "comprise" or "have" are intended to designate that a feature, number, step, element, or a combination thereof described in the specification is present, and one or more other features, numbers, steps, configuration It should not be construed as excluding the possibility of the presence or addition of elements or combinations thereof. Also, in the present specification, the term “connection” is used to include both indirectly connecting a plurality of components and directly connecting a plurality of components.

In addition, in the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

1 is a perspective view illustrating a magnetic drive system according to a first embodiment of the present invention, and FIG. 2 is a front view illustrating the magnetic drive system of FIG. 1 .

1 and 2 , the magnetic driving system 10 includes a first magnetic field generator 100 , a second magnetic field generator 200 , a moving module 300 , and a controller (not shown).

The first magnetic field generator 100 and the second magnetic field generator 200 are disposed to face each other with the operation region T interposed therebetween, and generate a magnetic field in the operation region T.

The moving module 300 supports and moves the first magnetic field generating unit 100 and the second magnetic field generating unit 200 . The moving module 300 moves the first magnetic field generating unit 100 and the second magnetic field generating unit 200 along the target located in the operation region T.

The controller controls the movement of the movement module 300 .

The first magnetic field generator 100 includes a first back yoke 110 , a first core 120 , and a first coil 130 .

The first back yoke 110 has a ring shape, and an inner space in which upper and lower surfaces are open is formed. The first back yoke 110 may have a circular or polygonal ring shape. The first back yoke 110 may be made of a magnetic material. The first back yoke 110 may be disposed such that a central axis located at the center of the inner space is perpendicular to the ground.

The first core 120 is supported by the first back yoke 110 . The first core 120 may be made of a magnetic material. The first core 120 may have a cylindrical or polygonal column shape, and may be inclined at a predetermined angle toward the central axis C1 of the first back yoke 110 . At least two first cores 120 are provided. According to the embodiment, four first cores 120 are provided. The first core 120 may be arranged at equal intervals along the circumference of the first back yoke 110 . The ends of the first cores 120 may face the operation area.

The first coil 130 is wound around the first cores 120 , respectively. The first coil 130 generates a magnetic field by applying a current.

The second magnetic field generator 200 includes a second back yoke 210 , a second core 220 , and a second coil 230 .

The second back yoke 210 may have the same shape as the first back yoke 110 . The second back yoke 210 is spaced apart from the first back yoke 110 by a predetermined distance and is disposed to face the first back yoke 110 . In the second back yoke 210 , the central axis C2 located in the inner space is positioned on the same line as the central axis C1 of the first back yoke 110 .

The second core 220 is supported by the second back yoke 210 . The second core 220 may be made of a magnetic material. The second core 220 may have the same shape as the first core 120 , and may be inclined at a predetermined angle toward the central axis C2 of the second back yoke 210 . The second core 220 is provided in the same number as the first core 120 . The second cores 220 may be arranged at equal intervals along the circumference of the second back yoke 210 . The second cores 220 may be disposed to face the first cores 120 on a one-to-one basis.

The second coil 230 is wound around the second cores 220 , respectively. The first coil 230 generates a magnetic field by applying a current.

The moving module 300 includes a body 310 , a rotating arm 320 , a pair of connecting arms 330 and 340 , a first supporting arm 350 , and a second supporting arm 360 .

The body 310 is a body of the moving module 300 , and various electronic components are mounted therein. A plurality of wheels 311 are mounted on the bottom surface of the body 310 to facilitate movement. A support shaft 312 is provided on the upper surface of the body 310 . The support shaft 312 is provided at a predetermined height in the Z-axis direction.

The rotary arm 320 has a rear end mounted on the support shaft 312 , and is rotatable about the support shaft 312 .

A pair of connecting arms 330 and 340 is provided, and a rear end of each is coupled to a front end of the rotary arm 320 . The connecting arms 330 , 340 are rotatable relative to the rotary arm 320 about a first axis X1 perpendicular to the Z axis. The pair of connecting arms 330 , 340 are individually rotatable with respect to the rotating arm 320 . According to the rotation angle of the connecting arms 330 and 340 , the angle between the connecting arms 330 and 340 may be changed.

One end of the first support arm 350 is coupled to the front end of any one of the connecting arms 330 . The first support arm 350 is relatively rotatable with respect to the connecting arm 330 about a second axis X2 parallel to the first axis X1 . The first back yoke 110 is coupled to the other end of the first support arm 350 . The other end of the first support arm 350 is coupled to the first back yoke 110 so that the first back yoke 110 is rotatable about an axis X4 parallel to the first axis X1.

The second support arm 360 has one end coupled with the tip of the other connecting arm 340 . The second support arm 360 is relatively rotatable with respect to the connecting arm 320 about a third axis X3 parallel to the first axis X1 . A second back yoke 210 is coupled to the other end of the second support arm 360 . The other end of the second support arm 360 is coupled to the second back yoke 210 so that the second back yoke 210 is rotatable about an axis X5 parallel to the first axis X1.

By driving the above-described moving module 300 , the first magnetic field generating unit 100 and the second magnetic field generating unit 200 can be moved. Specifically, when the rotating arm 320 rotates about the Z axis , The first magnetic field generating unit 100 and the second magnetic field generating unit 200 may rotate in the lateral direction on the XY plane parallel to the ground. Then, the connecting arms 330 and 340 are rotated about the first axis X1, the first support arm 350 is rotated about the second axis X2, and the third axis X3 is rotated as the center. By rotating the second support arm 340 , the first magnetic field generating unit 100 and the second magnetic field generating unit 200 in the direction of the central axes C1 and C2 of the first and second back yokes 110 and 210 . You can adjust the distance between In this case, the first back yoke 110 and the second back yoke 210 may be moved so that their central axes C1 and C2 are positioned on the same line. According to a distance between the first magnetic field generator 100 and the second magnetic field generator 200 , the size of the working region T and the strength of the magnetic field in the working region T may be adjusted.

3 is a diagram illustrating a size distribution of a magnetic field and a size of an operation region generated according to a distance between a first magnetic field generator and a second magnetic field generator;

Referring to FIG. 3A , it can be seen that when the distance between the first magnetic field generator 100 and the second magnetic field generator 200 increases, the operation area T increases and a magnetic field of low intensity is generated. . On the other hand, referring to (B), it can be seen that when the distance between the first magnetic field generator 100 and the second magnetic field generator 200 approaches, the operating area T becomes smaller and a magnetic field of high intensity is generated.

The pair of connecting arms 330 and 340 , the first support arm 350 , and the second support arm 360 of the moving module 300 may be made of a magnetic material. The magnetic field generated in the first coil 130 flows along the first back yoke 110 , the first support arm 350 , the connecting arms 330 and 340 , and the second support arm 360 . Thereby, the magnetic field formed in the operation region T, the first core 120 , the first back yoke 110 , the first support arm 350 , the connecting arms 330 and 340 , the second support arm 360 , The magnetic field formed in the second back yoke 210 and the second core 220 forms a closed magnetic circuit. The closed magnetic circuit may increase the strength of a magnetic field generated in the working region T.

The controller may control the movement module 300 to generate a magnetic field in the minimum operating region T required for control of the target. Also, the controller may control the movement module 300 so that the first magnetic field generator 100 and the second magnetic field generator 200 track the target according to the movement of the target in the operation region T. The target may be a micro-robot positioned within the body. The microrobot is located in a body tubular tissue such as blood vessels, bile ducts, organs, esophagus, and urethra, and may move in the tubular tissue by the magnetic field generated by the magnetic field generators 100 and 200 . The micro-robot may include at least one permanent magnet controllable by the magnetic field generated by the first and second magnetic field generators 100 and 200 .

4 and 5 are diagrams illustrating a process in which the first magnetic field generator and the second magnetic field generator control the micro-robot, and FIGS. 6 to 8 are views illustrating the movement of the first magnetic field generator and the second magnetic field generator. .

First, referring to FIGS. 4 and 5 , the magnetic drive system 10 and the C-arm image capturing unit 400 are positioned while the patient P is lying on the bed 20 . The first magnetic field generating unit 100 and the second magnetic field generating unit 200 are positioned between the X-ray irradiation unit 410 and the X-ray receiving unit 420 of the C-arm image capturing unit 400 . The first magnetic field generating unit 100 is located above the bed 20 , and the second magnetic field generating unit 200 is located below the bed 20 . The X-ray irradiator 410 , the central axis C1 of the first back yoke 110 , the central axis C2 of the second back yoke 210 , and the X-ray receiver 420 are aligned in a line.

X-rays irradiated from the X-ray irradiator 410 are transmitted through the inner space of the first back yoke 110 and the inner space of the second back yoke 210 to be transmitted to the X-ray receiver 420 . The C-arm image capturing unit 400 transmits the X-ray image to the display unit 500 . The X-ray image shows a microrobot. In addition, the back yokers 110 and 210 and the cores 120 and 220 may be displayed together in the X-ray image.

Referring to FIG. 6 , the controller rotates the connecting arms 330 and 340 and the support arms 350 and 360 to connect the first magnetic field generator 100 and the second magnetic field generator 200 to the patient body P. make it tight Accordingly, the operation area T is minimized to the area where the micro-robot is located in the patient's body P, and the movement of the micro-robot can be controlled with a high-density magnetic field.

Referring to FIG. 7 , the control unit rotates the connecting arms 330 and 340 and the supporting arms 350 and 360 according to the movement of the microrobot to generate the first magnetic field generating unit 100 and the second magnetic field generating unit 200 . It can be moved in a straight line on the XY plane.

Referring to FIG. 8 , the control unit rotates the rotating arm 320 according to the movement of the microrobot, and drives the connecting arms 330 and 340 and the supporting arms 350 and 360 to form the first magnetic field generating unit 100 and The second magnetic field generator 200 may track the movement of the microrobot.

In the present invention, the first magnetic field generating unit 100 and the second magnetic field generating unit 200 are located in the space between the X-ray irradiator 410 and the X-ray receiver 420, and the inner space of the first back yoke 110 and Since X-rays penetrate into the inner space of the second back yoke 210 , interference with the C-arm imaging unit 400 can be minimized. Accordingly, the first magnetic field generating unit 100 and the second magnetic field generating unit 200 may track the movement of the microrobot in real time and continuously.

9 is a front view showing a magnetic drive system according to a second embodiment of the present invention.

Referring to FIG. 9 , the magnetic drive system 10 is provided such that the rotary arm 320 is rotatable about its longitudinal direction about an axis Y1 . Specifically, the rotary arm 320 includes a first area 321 and a second area 322 . The first region 321 is coupled to the support shaft 312 so as to be rotatable about the support shaft 312 . The second region 322 connects the first region 321 and the connecting arms 330 and 340 . The second region 322 is coupled to the first region 321 so as to be rotatable with respect to the first region 321 with respect to the axis Y1 in the longitudinal direction of the rotary arm 320 . The inclinations of the first back yoke 110 and the second back yoke 210 vary according to the rotation angle of the second region 322 . If the angle at which the central axes C1 and C2 of the first back yoke 110 and the second back yoke 210 are perpendicular to the ground is 0°, when the second region 322 rotates 90°, the second The central axes C1 and C2 of the first back yoke 110 and the second back yoke 210 are arranged parallel to the ground, and when the second area 321 rotates 180°, the first back yoke 110 and the second back yoke 110 are The position of the two back yokes 210 is reversed.

The magnetic drive system 10 may variously change the arrangement angle of the first back yoke 110 and the second back yoke 210 according to the arrangement of the body part where the microrobot is located and the C-arm image capturing unit 400 . can

10 is a cross-sectional view illustrating a first magnetic field generator and a second magnetic field generator according to a third embodiment of the present invention.

Referring to FIG. 10 , the first back yoke 110 has a larger outer diameter d1 than the second back yoke 210 and has a larger cross-sectional area than the second back yoke 210 . And the first core 120 has a larger cross-sectional area than the second core 220 . Accordingly, the first magnetic field generating unit 100 may generate a magnetic field having a higher strength than that of the second magnetic field generating unit 200 . Even if the first magnetic field generating unit 100 moves away from the patient's body P, it is possible to generate a magnetic field of sufficient strength in the operating region T.

In addition, when the magnetic field strength generated in the operation region T is reduced due to the bed 20 , the first magnetic field generating unit 100 is located in the lower part of the bed 20 and the second magnetic field generating unit 200 is located in the bed 20 . It may be located at the top. The high-intensity magnetic field generated by the first magnetic image generator 100 may be effectively transferred to the operation region T.

11 is a perspective view illustrating a first magnetic field generator and a second magnetic field generator according to a fourth embodiment of the present invention.

Referring to FIG. 11 , the first core 120 is coupled to the first back yoke 110 and the pin 111 , and the second core 220 is coupled to the second back yoke 210 and the pin 211 . The first core 120 and the second core 220 are rotatable about the pins 111 and 211, respectively. The size of the operation region T and the strength of the magnetic field may be adjusted according to the rotation angles of the first cores 120 and the second cores 220 .

12 is a flowchart illustrating a process of performing a vascular intervention using a magnetic drive system according to an embodiment of the present invention.

Referring to FIG. 12 , the vascular intervention includes a photographing step (S10) for planning a procedure, a magnetic robot insertion step (S20), a magnetic drive system arrangement step (S30), and a remote treatment step (S40).

In the imaging step (S10) for the procedure planning, a tomographic or 3D vascular fluoroscopy image is taken through the imaging unit 400, and a path to the lesion part to be moved by the magnetic robot is planned. According to an embodiment, the image capturing unit 400 may use a C-arm image capturing unit.

In the magnetic robot insertion step ( S20 ), the magnetic robot is inserted into the body using a sheath.

In the magnetic drive system arrangement step ( S30 ), any one of the magnetic drive systems 10 described with reference to FIGS. 1 to 11 is disposed in consideration of the path of the lesion part, the position of the magnetic robot, and the arrangement of the image capturing unit 400 . Specifically, in the magnetic drive system arrangement step ( S30 ), the first magnetic field generator 100 and the second magnetic field generator 200 of the magnetic drive system 10 are disposed to face each other with an area in which the microrobot is located. . In addition, an operation region T is created in a space between the first magnetic field generator 100 and the second magnetic field generator 200 .

In the remote treatment step (S40), the medical staff controls the magnetic drive system 10 in a separate and separated space, and performs the procedure through a microrobot. In the remote operation step ( S40 ), the first magnetic field generator 100 and the second magnetic field generator 200 are moved so that the operation area T moves along the movement path of the microrobot. In the remote operation step (S40), the first magnetic field generating unit 100 and the second magnetic field generating unit 200 so that the central axes of the first back yoke 110 and the second back yoke 210 coincide with the positions of the micro-robots. ) can be moved. In the remote treatment step (S40), the first magnetic field generating unit 100 and the second magnetic field generating unit 200 may swing and move on the XY plane parallel to the ground. In the remote operation step ( S40 ), the first magnetic field generator 100 and the second magnetic field generator 200 may be individually moved in the Z-axis direction perpendicular to the ground.

As mentioned above, although the present invention has been described in detail using preferred embodiments, the scope of the present invention is not limited to specific embodiments and should be construed according to the appended claims. In addition, those skilled in the art will understand that many modifications and variations are possible without departing from the scope of the present invention.

10: magnetic drive system
100: first magnetic field generator
110: first back yoke
120: first core
130: first coil
200: second magnetic field generator
210: second back yoke
220: second core
230: second coil
300: move module
310: body
320: rotating arm
330, 340: connecting arm
350: first support arm
360: second support arm

Claims (15)

a first magnetic field generator;
a second magnetic field generator disposed to face the first magnetic field generator with an operation region interposed therebetween; and
and a moving module for moving the first magnetic field generator and the second magnetic field generator,
The mobile module
a body having a support shaft;
a rotary arm coupled to the support shaft and rotatable about the support shaft;
a pair of connecting arms respectively mounted on the front end of the rotary arm and rotatable about a first axis;
a first support arm mounted on a distal end of one of the connecting arms, rotatable with respect to the connecting arm about a second axis parallel to the first axis, and supporting the first magnetic field generator; and
A magnetic drive system including a second support arm mounted on the tip of the other connecting arm, rotatable with respect to the connecting arm about a third axis parallel to the first axis, and supporting the second magnetic field generator; . According to claim 1,
The first magnetic field generator,
a ring-shaped first back yoke;
a first core coupled to the first back yoke; and
a first coil wound around the first core;
The second magnetic field generator,
a ring-shaped second back yoke;
a second core coupled to the second back yoke; and
and a second coil wound around the second core. 3. The method of claim 2,
The mobile module
A magnetic driving system for moving the first magnetic field generator and the second magnetic field generator so that a central axis of the first back yoke and a central axis of the second back yoke are positioned on the same line. 3. The method of claim 2,
The mobile module
A magnetic drive system for adjusting a distance between the first back yoke and the second back yoke in the central axis direction. delete The method of claim 1,
The rotary arm is
a first region coupled to the support shaft; and
and a second region connecting the first region and the connecting arms and rotatable with respect to the first region about a second axis parallel to a longitudinal direction of the rotating arm. 3. The method of claim 2,
A magnetic field formed in the working region; A magnetic drive system in which the magnetic field forms a closed magnetic circuit. 3. The method of claim 2,
The first back yoke and the second back yoke have the same outer diameter. 3. The method of claim 2,
The first back yoke has an outer diameter greater than that of the second back yoke, and has a cross-sectional area greater than that of the second back yoke,
The first core has a larger cross-sectional area than the second core. 3. The method of claim 2,
Magnetic field further comprising a control unit for obtaining position information of a target located in the operation area and controlling the moving module so that a central axis of the first back yoke and a central axis of the second back yoke are located on the same line with the target drive system. 3. The method of claim 2,
The first back yoke is pin-coupled to the first core,
The second back yoke is pin-coupled to the second core,
The first back yoke and the second back yoke are each rotatable about the pin. planning a movement path of the micro-robot to the lesion area through only the image information captured by the image capturing unit;
The first magnetic field generating unit and the second magnetic field generating unit of the magnetic drive system are disposed facing each other with the area in which the microrobot is located, and an operating area is created in a space between the first magnetic field generating unit and the second magnetic field generating unit a magnetic drive system arrangement step; and
and controlling a movement module to move the first magnetic field generator and the second magnetic field generator so that the operation area moves along a movement path of the micro-robot.
The mobile module
a body having a support shaft;
a rotary arm coupled to the support shaft and rotatable about the support shaft;
a pair of connecting arms respectively mounted on the front end of the rotary arm and rotatable about a first axis;
a first support arm mounted on a distal end of one of the connecting arms, rotatable with respect to the connecting arm about a second axis parallel to the first axis, and supporting the first magnetic field generator; and
A magnetic drive system including a second support arm mounted on the tip of the other connecting arm, rotatable with respect to the connecting arm about a third axis parallel to the first axis, and supporting the second magnetic field generator; A micro-robot control method using 13. The method of claim 12,
The first magnetic field generator,
a ring-shaped first back yoke;
a first core coupled to the first back yoke; and
a first coil wound around the first core;
The second magnetic field generator,
a ring-shaped second back yoke;
a second core coupled to the second back yoke; and
a second coil wound around the second core;
The step of moving the first magnetic field generator and the second magnetic field generator comprises:
A microrobot control method using a magnetic drive system for moving the first magnetic field generator and the second magnetic field generator so that the central axes of the first back yoke and the second back yoke coincide with the positions of the micro robot.
13. The method of claim 12,
The step of moving the first magnetic field generator and the second magnetic field generator comprises:
A microrobot control method using a magnetic drive system for swinging and moving the first magnetic field generator and the second magnetic field generator on an XY plane parallel to the ground. 13. The method of claim 12,
The step of moving the first magnetic field generator and the second magnetic field generator comprises:
A microrobot control method using a magnetic drive system for individually moving the first magnetic field generator and the second magnetic field generator in a Z-axis direction perpendicular to the ground.

Images