WO2020111539A1

WO2020111539A1 - Magnetic field drive system

Info

Publication number: WO2020111539A1
Application number: PCT/KR2019/014660
Authority: WO
Inventors: 장건희; 이원서
Original assignee: 한양대학교 산학협력단
Priority date: 2018-11-28
Filing date: 2019-11-01
Publication date: 2020-06-04

Abstract

A magnetic field drive system is disclosed. The magnetic field drive system comprises: a rail; a first magnetic field generating unit provided on the rail; and a second magnetic field generating unit provided on the rail, and arranged to face the first magnetic field generating unit with a target region therebetween, wherein the first magnetic field generating unit and the second magnetic field generating unit can generate magnetic field in the target region.

Description

Magnetic field drive system

The present invention relates to a magnetic field driving system, and more particularly, to a magnetic field driving system capable of generating a magnetic field in a target region.

The magnetic robot equipped with a magnet is driven by receiving magnetic torque and magnetic force by an external magnetic field generated by a magnetic field driving system, and it can be precisely controlled remotely, and is applied and researched and developed in many areas. Typical examples include self-driven capsule endoscopes applied to the digestive system, magnetic catheters applied to the treatment of cardiac arrhythmias, etc.In addition, magnetic robots for vascular therapy to treat occlusive blood vessels, micro-robots for intraocular drug delivery, and targets in tissues Magnetic nanoparticles for drug delivery.

As described above, the positions of the human body part and the lesion part to which the magnetic robot is applied vary. The core of the driving and control of the magnetic robot is a magnetic field driving system that generates an external magnetic field. However, the existing magnetic field driving systems have generated and controlled the magnetic field inefficiently because the position and arrangement of the electromagnet generating the magnetic field are fixed and the position and characteristics of the lesion are not considered. In addition, due to the magnetic properties of a magnetic structure such as a magnetic core, there are limitations in that a high-power high-frequency magnetic field cannot be generated. The limitations of the magnetic field driving system lead to limitations such as a disease that a magnetic robot is applicable to and a movement that can be generated.

The present invention provides a magnetic field driving system capable of optimizing the position and arrangement of the magnetic field generator according to the position and characteristics of the lesion.

In addition, the present invention provides a magnetic field driving system capable of generating a high-power high-frequency magnetic field.

The magnetic field driving system according to the present invention includes a rail; A first magnetic field generator installed on the rail; And a second magnetic field generating unit installed on the rail and facing the first magnetic field generating unit with a target region interposed therebetween, wherein the first magnetic field generating unit and the magnetic field generating unit apply a magnetic field to the target region. Can be created.

In addition, a driving unit for moving the first magnetic field generating unit and the second magnetic field generating unit along the rail may be further included.

In addition, the first magnetic field generating unit, a first support frame installed on the rail; At least one first magnetic core supported on the first support frame, the ends of which are disposed toward the target area; And a first coil wound around each of the first magnetic cores, the second magnetic field generating unit being installed on the rail, and a second support frame disposed opposite the first support frame; At least one second magnetic core supported on the second support frame, the ends of which are disposed toward the target area; And a second coil wound on each of the second magnetic cores.

In addition, the first magnetic field generating unit includes a first core variable module for moving the first magnetic core along the first supporting frame, and the second magnetic field generating unit includes the second supporting frame along the second supporting frame. It may include a second core variable module for moving the magnetic core.

In addition, the first core variable module may individually move the plurality of first magnetic cores, and the second core variable module may individually move the plurality of second magnetic cores.

In addition, the first core variable module linearly moves the first magnetic core in the direction of the central axis of the first magnetic core, and the second core variable module moves the second magnetic in the center axis direction of the second magnetic core. The core can be moved straight.

In addition, each of the first support frame and the second support frame has a ring shape having the same size, and its center may be located on the same axis.

In addition, the first magnetic core, the second magnetic core, the first support frame, the second support frame, and the rail is provided with a magnetic material, the magnetic field formed in the target region, the first magnetic core, the The magnetic fields formed in the first support frame, the rail, the second support frame, and the second magnetic core may form a closed magnetic circuit.

In addition, a power supply unit for supplying power to the first coil through a first circuit, and supplying power to the second coil through a second circuit; And a variable capacitor provided in each of the first circuit and the second circuit.

In addition, the first support frame may have a structure in which a plurality of base frames provided with a magnetic material are stacked.

In addition, the base frames have the same radius as the first support frame and may be located on the same central axis.

In addition, the first magnetic core is provided in a structure in which a plurality of base frames made of a magnetic material are stacked, and the base frames may have the same length as the first magnetic core.

In addition, the rail is provided in a structure in which a plurality of base frames made of a magnetic material are stacked, and the base frames may have the same length as the rail.

In addition, the first magnetic core, the first coil is wound on the outer surface, having an inner space, a first core housing having an opening formed at one end; A first auxiliary core inserted into the interior space through the opening; And it may include a first core driving unit for linearly moving the first auxiliary core in the direction of the central axis.

In addition, the central axis of the first core housing and the central axis of the first auxiliary core may be located on the same line.

In addition, the central axis of the first core housing and the central axis of the first auxiliary core may be arranged parallel to each other.

In addition, a plurality of openings are formed at one end of the first core housing, a plurality of the first auxiliary cores are inserted into each of the openings, and the first core driving unit individually moves the first auxiliary cores. I can do it.

In addition, the openings may have different sizes from each other, and the first auxiliary cores may have a size corresponding to each of the openings.

According to the present invention, since the magnetic cores can move along the support frame or linearly move in the axial direction, it is possible to control the generation of a magnetic field according to the location and characteristics of the lesion.

In addition, according to the present invention, by generating a closed magnetic circuit and providing a variable capacitor and a stacked magnetic structure, a high-power high-frequency magnetic field can be generated in a target region.

1 is a perspective view showing a magnetic field generating system according to an embodiment of the present invention.

FIG. 2 is a front view showing the magnetic image generating system of FIG. 1.

3 is a right side view of the magnetic field generating system of FIG. 1.

4 is a diagram (A) showing the connection of the first magnetic field generating unit and the power unit according to an embodiment of the present invention and an electrical circuit diagram (B) thereof.

5 is a diagram (A) showing the connection between the second magnetic field generating unit and the power unit according to an embodiment of the present invention and an electrical circuit diagram (B) thereof.

6 and 7 are views illustrating flows of magnetic fields generated by the first magnetic field generator and the second magnetic field generator, respectively, according to an embodiment of the present invention.

8 is a view showing the flow of the magnetic field generated by the magnetic field generating unit according to the comparative example.

9 is a view showing a magnetic field flow in a magnetic field driving system according to an embodiment of the present invention.

10 is a view showing a cross section of a magnetic core, a support frame, and a rail according to an embodiment of the present invention, respectively.

11 is a view showing a cross section of a magnetic core, a support frame, and frames according to another embodiment of the present invention.

12 is a cross-sectional view showing a magnetic core according to another embodiment of the present invention.

13 is a graph showing the results of analytically obtaining the strength of a magnetic field that can be generated when generating a high frequency magnetic field according to the application of a variable capacitor and a stacked magnetic structure.

14 is a view showing first and second magnetic cores according to another embodiment of the present invention.

15 is a front view showing the first and second magnetic cores of FIG. 14.

16 is a perspective view showing a first magnetic core according to another embodiment of the present invention.

17 is a front view showing the first magnetic core of FIG. 16.

18 is a perspective view showing a first magnetic core according to another embodiment of the present invention.

19 is a front view showing the first magnetic core of FIG. 18.

20 to 23 are views sequentially showing a driving method of a magnetic field driving system according to an embodiment of the present invention.

24 to 26 are perspective views illustrating a magnetic field driving system according to different embodiments 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 to ensure that the disclosed contents are thorough and complete and that the spirit of the present invention is sufficiently conveyed to those skilled in the art.

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

In addition, in various embodiments of the present specification, terms such as first, second, and third 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 component. Therefore, what is referred to as the first component in one embodiment may be referred to as the second component in another embodiment. Each embodiment described and illustrated herein also includes its complementary embodiment. In addition, in this specification,'and/or' is used to mean including at least one of the components listed before and after.

In the specification, a singular expression includes a plural expression unless the context clearly indicates otherwise. Also, terms such as “include” or “have” are intended to indicate the presence of features, numbers, steps, elements, or combinations thereof described in the specification, and one or more other features, numbers, steps, or configurations. It should not be understood as excluding the possibility of the presence or addition of elements or combinations thereof. In addition, in the present specification, “connecting” is used in a sense to include both indirectly connecting a plurality of components, and directly connecting.

In addition, in the following description of the present invention, when it is determined that detailed descriptions of related known functions or configurations may unnecessarily obscure the subject matter of the present invention, detailed descriptions thereof will be omitted.

1 is a perspective view showing a magnetic field generating system according to an embodiment of the present invention, FIG. 2 is a front view showing the magnetic image generating system of FIG. 1, and FIG. 3 is a right side view showing the magnetic field generating system of FIG. 1.

1 to 3, the magnetic field generation system generates a magnetic field in the target region. The magnetic field generating system 10 includes a rail 100, a first magnetic field generating unit 200, a second magnetic field generating unit 300, a driving unit 400, and a power supply unit 500.

The rail 100 has a predetermined length in one direction and is placed on the ground. According to an embodiment, the rail 100 may be provided with a magnetic material.

The first magnetic field generating unit 200 and the second magnetic field generating unit 300 are respectively installed on the rail 100. The first magnetic field generating unit 200 and the second magnetic field generating unit 300 are arranged in a line along the length direction of the rail 100. At least a part of the space between the first magnetic phase generating unit 200 and the second magnetic field generating unit 300 is defined as a target area T. The first magnetic phase generating unit 200 and the second magnetic field generating unit 300 generate a magnetic field in the target region T.

The first magnetic field generation unit 200 includes a first support frame 210, a first magnetic core 220, a first coil 230, and a first core variable module 240.

The first support frame 210 is installed on the rail 100. The lower end of the first support frame 210 is installed on the rail 100. The first support frame 210 may be made of a magnetic material. The first support frame 210 is provided as a passage through the magnetic field generated by the first coil 230. According to an embodiment, the first support frame 210 has a ring shape having a predetermined radius, „, and its central axis is arranged parallel to the longitudinal direction of the rail 100. According to an example, the first support frame 210 may be provided as one frame. Alternatively, the first support frame 210 may be provided in a structure in which a pair of

frames

211 and 212 are disposed facing each other at a predetermined distance.

The first magnetic core 220 is supported by the first support frame 210 and extends from a predetermined position of the first support frame 210 toward the target area T. The first magnetic core 220 is a magnetic body having a predetermined shape, and its end is disposed toward the target region T. The first magnetic core 220 may have a cylindrical or polygonal column shape. At least one first magnetic core 220 may be provided. According to an embodiment, four first magnetic cores 220 are provided, and are spaced apart at predetermined intervals along the circumference of the first support frame 210. Each of the first magnetic cores 220 are disposed with their ends inclined toward the target area T.

The first coils 230 are wound on the first magnetic cores 220, respectively.

The first core variable module 240 is installed on the first support frame 210 and moves the first magnetic core 220. The first core variable module 240 moves the first magnetic core 220 along the circumference of the first support frame 210. In addition, the first core variable module 240 linearly moves the first magnetic core 220 in the direction of the central axis of the first magnetic core 220. The first core variable module 240 is provided in each of the first magnetic cores 220 and moves the first magnetic cores 220 individually. As the first magnetic cores 220 individually move along the circumference of the first support frame 210, the distance between the first magnetic cores 220 may be adjusted. The first core variable modules 240 may move the first magnetic cores 220 such that the intervals between the first magnetic cores 220 are the same. Alternatively, the first core variable modules 240 may move the first magnetic cores 220 such that gaps between the first magnetic cores 220 are different. When the first core variable modules 240 are driven, the size of the target region T and the strength of the magnetic field formed in the target region T as the first magnetic cores 220 move forward or backward in the central axis direction Can be adjusted. Specifically, when the first magnetic cores 220 move forward, the size of the target region T decreases, and a high-intensity magnetic field may be generated in the target region T. On the other hand, when the first magnetic cores 220 move backward, the size of the target region T increases, and a magnetic field of relatively low intensity may be generated in the target region T. As such, the size of the target region T and the intensity of the magnetic field formed in the target region T may be adjusted according to the linear movement of the first magnetic cores 220.

The second magnetic field generator 300 includes a second support frame 310, a second magnetic core 320, a second coil 330, and a second core variable module 340.

The second support frame 310 is installed on the rail 100. The second support frame 310 has the same shape, material, and size as the first support frame 210, and the lower end portion is placed on the rail 100. The second support frame 310 is disposed to face the first support frame 210, and its central axis is located on the same line as the central axis of the first support frame 210.

The second magnetic core 320 is supported by the second support frame 310 and extends from the predetermined position of the second support frame 310 toward the target area T. The second magnetic core 320 is a magnetic body having the same shape as the first magnetic core 220, and an end thereof is disposed toward the target region T. At least one second magnetic core 320 may be provided. According to an embodiment, the second magnetic core 320 is provided in the same number as the first magnetic core 220.

The second coil 330 is wound on the second magnetic cores 320, respectively.

The second core variable module 340 is installed on the second support frame 310 and moves the second magnetic core 320. The second core variable module 340 moves the second magnetic core 320 along the circumference of the second support frame 310. In addition, the second core variable module 340 linearly moves the second magnetic core 320 in the direction of the central axis of the second magnetic core 320. The second core variable module 340 is provided in each of the second magnetic cores 320 and moves the second magnetic cores 320 individually.

The driving unit 400 moves the first magnetic field generating unit 200 and the second magnetic field generating unit 300 along the rail 100. The driving unit 400 may individually move the first magnetic field generating unit 200 and the second magnetic field generating unit 300. The driving unit 400 includes a first driving unit 410 moving the first magnetic field generating unit 200 and a second driving unit 420 moving the second magnetic field generating unit 300. The first driving part 410 is installed on the rail 100 and is coupled to the first support frame 210. The first support frame 210 may move as the first driving unit 410 moves along the rail 100. The second driving part 420 is installed on the rail 100 and is coupled to the second support frame 310. The second support frame 310 may move as the second driving unit 420 moves along the rail 100. The position and size of the target area T may be adjusted according to the movement of the first support frame 210 and the second support frame 310.

4 is a diagram (A) showing the connection of the first magnetic field generating unit and the power supply unit according to an embodiment of the present invention and an electrical circuit diagram (B) thereof, and FIG. 5 is a second magnetic field generating unit according to an embodiment of the present invention It is the figure (A) which shows the connection of a power supply part, and its electrical circuit diagram (B).

4 and 5, the power supply unit 500 supplies power to the first coil 230 and the second coil 330. The power supply unit 500 supplies power to the first circuit connected to the first coil 230 and the second circuit connected to the second coil 330, respectively.

The first magnetic field generating unit 200 further includes a first variable capacitor 250 provided to the first circuit 201, and the second magnetic field generating unit 300 is a second circuit provided to the second circuit 301. The variable capacitor 250 is further included. Accordingly, the first and second circuits 201 and 301 are provided as closed circuits composed of power sources P1 and P2, resistors R1 and R2, inductances L1 and L2, and capacitances C1 and C2. Here, the power supply (P1, P2) is the power supply unit 500, the resistance (R1, R2) and the inductance (L1, L2) is the first and second magnetic core (220, 320) and the first and second coil (230) , 330, and capacitances C1 and C2 mean first and second

variable capacitors

250 and 350.

The first and second

variable capacitors

250 and 350 control the capacitances C1 and C2 of the circuits 201 and 301 to influence the inductances L1 and L2 that reduce the strength of the magnetic field when generating a high-frequency magnetic field. Reduce. Thereby, the circuit can cause a resonance in which a magnetic field is maximized at a specific frequency. At this time, the resonance point can be adjusted by controlling the capacitances C1 and C2 of the first variable capacitor 230 and the second variable capacitor 330. Therefore, it may be possible to generate resonance at any frequency if the ranges of the capacitances C1 and C2 are sufficient.

Therefore, by adjusting the capacitances C1 and C2 of the first variable capacitor 250 and/or the second variable capacitor 350 so that resonance occurs at a desired frequency, at a specific frequency (for example, the frequency of the input voltage). A magnetic field can be generated.

At this time, the current flowing through the first coil 230 and the second coil 330 is equal to Equation 1 below.

[Equation 1]

Here, Vs is the magnitude of the applied voltage, f is the frequency of the applied voltage, Rc , Lc is the resistance and inductance of the coil, and Cv is the capacitance of the variable capacitor. The maximum voltage is the resonant frequency of the closed circuit

It is obtained from and the resonance frequency can be adjusted by a variable capacitor.

6 and 7 are diagrams respectively showing flows of magnetic fields generated by the first magnetic field generator and the second magnetic field generator according to an embodiment of the present invention, and FIG. 8 is a magnetic field generated by the magnetic field generator according to the comparative example It is a diagram showing the flow of.

First, referring to FIGS. 6 and 7, a magnetic field is generated in the first coil 230 by the power supplied from the power supply unit 500, and the generated magnetic field includes the first magnetic core 220 and the first support frame ( 210). The magnetic field M1 formed in the first magnetic core 220, the magnetic field M2 formed in the first support frame 210, and the magnetic field M3 formed in the target region T1 are closed magnetic circuits. To form.

A magnetic field is generated in the second coil 330 by the power supplied from the power supply unit 500, and the generated magnetic field flows along the second magnetic core 320 and the second support frame 310. The magnetic field M1 formed in the second magnetic core 320, the magnetic field M2 formed in the second support frame 310, and the magnetic field M3 formed in the target region T2 form a closed magnetic circuit. do.

7 shows that the first and second

magnetic cores

220 and 320 are linearly moved in the longitudinal direction by the first and second core

variable modules

240 and 340 to form the target region T2 by fitting the lesion. That is, when compared with FIG. 6, a high-intensity magnetic field can be generated.

In the actual experimental example, FIG. 6 sets the size of the target region T1 to a diameter of 500 mm, and FIG. 7 sets the size of the target region T2 to a diameter of 300 mm, winding each coil 1,000 times, and applying a current of 10 A. Approved. The magnetic field strength at the center point Tc of the target regions T1 and T2 was 27 mT in FIG. 6 and 70 mT in FIG. 7.

Alternatively, the magnetic field generator according to FIG. 8 forms an open magnetic circuit in which the magnetic field generated in the coil 21 is blocked from flowing in the magnetic cores 22. The size of the target region T1 is set to 500 mm in diameter as in FIG. 6, and the number of coils and the applied current are the same as above. As a result, the magnetic field strength is 10 mT at the center point Tc of the target region T1. appear.

As described above, it can be seen that the closed magnetic circuit has an improved magnetic field generating ability than the open magnetic circuit. In particular, it can be seen that when a target region is formed by fitting a lesion, a magnetic field having a high intensity can be effectively generated.

Referring to FIG. 9, a magnetic field flowing along the first support frame 210 may flow through the rail 100 made of a magnetic material to the second support frame 320. Conversely, the magnetic field flowing along the second support frame 320 may flow through the rail to the first support frame 210. By the magnetic field flow, the magnetic fields M1 and M2 formed in the first magnetic core 220 and the first support frame 210, the magnetic fields M3 formed in the rail 100, and the second magnetic core 320 and The magnetic fields M4 and M5 formed in the two support frames 310 and the magnetic fields Mt formed in the target region T form a closed magnetic circuit. The formation of the closed magnetic circuit maximizes the ability to generate a magnetic field in the target region T.

10 is a view showing cross sections of a magnetic core, a support frame, and a rail according to an embodiment of the present invention, and FIG. 11 is a cross section of a magnetic core, a support frame, and a rail according to another embodiment of the present invention, respectively It is a figure to show. The

magnetic cores

220 and 320 have a cross section along the line A1-A2 in FIG. 3, the support frames 210 and 310 have a cross section along the line B1-B2 in FIG. 3, and the rail 100 has a cross section along the line C1- in FIG. The cross section along line C2 is shown.

Referring first to FIG. 10, the first and second

magnetic cores

220 and 320, the first and second supporting

frames

210 and 310, and the rail 100 may be configured as a single frame in a solid form. Can be.

Alternatively, referring to FIG. 11, the first and second

magnetic cores

220 and 320 are formed by stacking a plurality of first base frames F1, and the first and second support frames 210 and 310 are The plurality of second base frames F2 may be stacked, and the rail 100 may be configured by stacking a plurality of third base frames F3. The first to third base frames F1 to F3 are made of a magnetic material.

The first and second

magnetic cores

220 and 320 have a cylindrical shape as a whole, and the first base frames F1 have a structure in which thin plates having the same length as the first and second magnetic cores are stacked. Alternatively, the first and second

magnetic cores

220 and 320 may have a quadrangular pillar shape, and in this case, the first and second

magnetic cores

220 and 320 have a square cross section and thickness, as shown in FIG. 12. And plate-shaped first base frames F1 having the same length.

The second base frames F2 have the same radius as the first and second support frames 210 and 220 and are provided as thin ring-shaped plates, and their central axes are located on the same axis. The second base frames F2 are stacked with each other to form first and second support frames 210 and 220.

In the third base frame F3, thin plates having the same length as the rail 100 are stacked in the width direction of the rail 100 to constitute the rail 100.

When generating a high-power high-frequency magnetic field, the first and second

magnetic cores

220 and 320, the first and second supporting

frames

210 and 310, and the eddy currents inside the rail 100 (eddy current, EC1, EC2) ) Is generated, and these eddy currents EC1 and EC2 may be factors that reduce the strength of the high-frequency magnetic field.

In the case of the embodiment of FIG. 10, as the first and second

magnetic cores

220 and 320, the first and second supporting

frames

210 and 310, and the rail 100 have a relatively large cross-sectional area, the eddy current ( The area through which EC1) can flow increases, and the intensity of the eddy current EC1 increases.

On the other hand, in the embodiment of FIGS. 11 and 12, the first and second

magnetic cores

220 and 320, the first and second support frames 210 and 310, and the rail 100 are the base frames F1 and F2 , F3), eddy currents EC2 are respectively generated. Compared to the embodiment of FIG. 10, since the base frames F1, F2, and F3 each have a relatively small cross-sectional area, the area through which the eddy current EC2 can flow is reduced. Due to this, the intensity of the eddy current EC2 flowing inside the base frames F1, F2, and F3 is reduced, and the effect of reducing the magnetic field intensity due to the eddy current can be reduced.

13 is a graph showing the results of analytically obtaining the strength of a magnetic field that can be generated when generating a high frequency magnetic field according to the application of a variable capacitor and a stacked magnetic structure. The first graph (A) represents the strength of the magnetic field according to an embodiment in which the variable capacitor and the stacked magnetic structure are not applied, and the second graph (B) is a variable capacitor as shown in FIG. 10 and the stacked magnetic structure is not applied. The magnetic field strength according to the embodiment is illustrated, and the third graph C represents the magnetic field strength according to the embodiment in which both the variable capacitor and the stacked magnetic structure are applied as shown in FIG. 11.

Referring to FIG. 13, the resistance of the magnetic field generator is set to about 8 Ω, and the inductance is set to about 0.8H, and the intensity of the current is applied to generate a magnetic field of about 200 mT intensity in the target region. When comparing the results according to each embodiment, it can be seen that the difference in the intensity of the magnetic field that can be generated rapidly increases as the frequency of the magnetic field increases. Through this, it can be seen that a variable capacitor and a stacked magnetic structure are essential to generate a high-power high-frequency magnetic field.

FIG. 14 is a view showing first and second magnetic cores according to another embodiment of the present invention, and FIG. 15 is a plane view showing first and second magnetic cores of FIG. 14. The first magnetic core and the second magnetic core may be provided with the same structure, and the first magnetic core will be described as an example below.

14 and 15, the first magnetic core 220 includes a first core housing 211, a first auxiliary core 213, and a first core driver (not shown).

In the first core housing 211, the first coil 230 is wound on the outer surface, and a space is formed therein. An opening 211a is formed at one end of the first core housing 211. The opening 211a communicates with the interior of the first core housing 211.

The first auxiliary core 213 has a smaller volume than the first core housing 211 and is inserted into the first core housing 211 through the opening 211a. The first auxiliary core 213 is made of a magnetic material. According to an embodiment, the first auxiliary core 213 may have a column shape having a diameter corresponding to the opening 211a. The first auxiliary core 213 may have a central axis C on the same line as the central axis C of the first core housing 211.

The first core driving unit linearly moves the first auxiliary core 213 in the direction of its central axis C. Accordingly, the tip of the first auxiliary core 213 may be located at the same point as one end of the first core housing 211 or may protrude toward the front of the first core housing 211.

The magnetic field generated by the first coil 230 flows along the first core housing 211 and the first auxiliary core 213 to generate a magnetic field in the target region T. The first magnetic core 210 changes the position of the end of the first magnetic core 210 according to the linear movement of the first auxiliary core 213, and accordingly, the strength and distribution of the generated magnetic field can be variously adjusted. . In addition, by moving the first auxiliary core 213 having a relatively small weight, load generation due to movement can be minimized.

16 is a perspective view showing a first magnetic core according to another embodiment of the present invention, and FIG. 17 is a front view showing the first magnetic core of FIG. 16.

16 and 17, the first auxiliary core 213 has its central axis C1 spaced a predetermined distance from the central axis C of the first core housing 211, so that the first core housing 211 It is arranged parallel to the central axis (C). The first auxiliary core 213 is linearly moved in the direction of its central axis C1 by the first core driver.

18 is a perspective view showing a first magnetic core according to another embodiment of the present invention, and FIG. 19 is a front view showing the first magnetic core of FIG. 18.

18 and 19, a plurality of

openings

211a and 211b may be formed at one end of the first core housing 211. The

openings

211a and 211b may have the same size. Alternatively, the

openings

211a and 211b may have different sizes. According to an embodiment, two

openings

211a and 211b are formed at one end of the first core housing 211, and the sizes of the

openings

211a and 211b may be the same.

First auxiliary cores 213 are inserted into the

openings

211a and 211b, respectively. The first auxiliary core 213 has a diameter corresponding to the

openings

211a and 211b to be inserted. The first

auxiliary cores

211a and 211b have their central axes C1 and C2 spaced a predetermined distance from the central axis C of the first core housing 211, such that the central axis C of the first core housing 211 ).

The first core driving unit individually moves the first auxiliary cores 213 linearly in the central axes C1 and C2. Accordingly, the lengths of the first auxiliary cores 213 protruding forward of the first core housing 211 may be adjusted.

20 to 23, the method of driving the magnetic field driving system 10 first places the patient 20 on the bed 30. Then, the positions of the first magnetic field generator 200 and the second magnetic field generator 300 are adjusted so that the lesion portion of the patient 20 is located in the target region of the magnetic field driving system 10. In this embodiment, the head region of the patient 20 is located in the target region for the brain disease treatment of the patient 20. The first magnetic field generating unit 200 and the second magnetic field generating unit 300 are linearly moved along the rail 100 by the driving of the first driving unit 410 and the second driving unit 420, so that the lesion of the patient 20 It is located in the additional target area. The first and second core

variable modules

240 and 340 move the first and second

magnetic cores

220 and 320 along the first and second support frames 210 and 310, and the first and second magnetics The positions of the first and second

magnetic cores

220 and 320 are aligned by linearly moving the

cores

220 and 320 in the central axis direction. Thereby, the target region can be optimized for the lesion. In the state where the X-ray imaging device 40 is located, power is applied to the first and

second coils

230 and 330. A magnetic field is generated in the target region by application of power. Based on the perspective image obtained by the X-ray imaging device 40, the position of the magnetic robot inserted into the body of the patient 20 is tracked, and the motion of the magnetic robot is performed using the magnetic field generated by the magnetic field driving system 10 Can be controlled. As described above, the strength of the magnetic field generated in the target region may be increased by the formation of the closed magnetic circuit.

24 to 26, the first and second support frames of the magnetic field driving system may have a ring shape or an arc shape. Referring to FIG. 24, the first support frame 210a may have a ring shape, and the second support frame 310a may have an arc shape with an open top. Referring to FIG. 25, both the first and second support frames 210b and 310b may have an arc shape with an open top. Referring to FIG. 26, both the first and second support frames 210b and 310b may have an arc shape in which upper and lower portions are opened. The combination of the first and second support frames is not limited to this, and may be changed to various combinations of the above-described ring shape and arc shape.

The shapes of the above-described first and second support frames 210a to 210c and 310a to 310c maximize compatibility between an X-ray imaging device composed of a C-arm and the like and a magnetic field driving system. In addition, the first and second support frames 210a to 210c and 310a to 310c are made lighter.

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

The magnetic field driving system according to the present invention may generate a magnetic field in a target area to drive a magnetic robot.

Claims

rail;

A first magnetic field generator installed on the rail; And

It is installed on the rail, and includes a second magnetic field generation unit facing the first magnetic field generation unit with a target region therebetween,

The first magnetic field generating unit and the magnetic field generating unit generates a magnetic field in the target region.
According to claim 1,

And a driving unit for moving the first magnetic field generating unit and the second magnetic field generating unit along the rail.
According to claim 1,

The first magnetic field generating unit,

A first support frame installed on the rail;

At least one first magnetic core supported on the first support frame, the ends of which are disposed toward the target area; And

And a first coil wound around each of the first magnetic cores,

The second magnetic field generating unit,

A second support frame installed on the rail and facing the first support frame;

At least one second magnetic core supported on the second support frame, the ends of which are disposed toward the target area; And

And a second coil wound around each of the second magnetic cores.
The method of claim 3,

The first magnetic field generating unit,

A first core variable module for moving the first magnetic core along the first support frame,

The second magnetic field generating unit,

And a second core variable module moving the second magnetic core along the second support frame.
The method of claim 4,

The first core variable module individually moves the plurality of first magnetic cores,

The second core variable module is a magnetic field driving system for individually moving a plurality of the second magnetic cores.
The method of claim 4,

The first core variable module linearly moves the first magnetic core in the direction of the central axis of the first magnetic core,

The second core variable module is a magnetic field driving system for linearly moving the second magnetic core in the direction of the central axis of the second magnetic core.
The method of claim 4,

Each of the first support frame and the second support frame has a ring or arc shape, and a magnetic field driving system whose center is located on the same axis.
The method of claim 3,

The first magnetic core, the second magnetic core, the first support frame, the second support frame, and the rail are provided with a magnetic material,

The magnetic field formed in the target region, the first magnetic core, the first support frame, the rail, the second support frame, and the magnetic fields formed in each of the second magnetic core form a magnetic field driving system.
The method of claim 3,

A power supply unit supplying power to the first coil through a first circuit and supplying power to the second coil through a second circuit; And

A magnetic field driving system including a variable capacitor provided in each of the first circuit and the second circuit.
The method of claim 3,

The first support frame,

A magnetic field driving system having a structure in which a plurality of base frames provided by a magnetic material are stacked.
The method of claim 10,

The base frames have the same radius as the first support frame, and the magnetic field driving system is located on the same central axis.
The method of claim 3,

The first magnetic core,

A plurality of base frames made of a magnetic material are provided in a stacked structure,

The base frames have a magnetic field driving system having the same length as the first magnetic core.
The method of claim 3,

The rail,

A plurality of base frames made of a magnetic material are provided in a stacked structure,

The base frames have a magnetic field drive system having the same length as the rail.
The method of claim 3,

The first magnetic core,

A first core housing in which the first coil is wound on an outer surface, has an inner space, and an opening is formed at one end;

A first auxiliary core inserted into the interior space through the opening; And

And a first core driving unit for linearly moving the first auxiliary core in the direction of its central axis.
The method of claim 14,

A magnetic field driving system in which the central axis of the first core housing and the central axis of the first auxiliary core are on the same line.
The method of claim 14,

A magnetic field driving system in which the central axis of the first core housing and the central axis of the first auxiliary core are arranged parallel to each other.
The method of claim 14,

A plurality of openings are formed at one end of the first core housing,

A plurality of the first auxiliary core is inserted into each of the openings,

The first core driving unit is a magnetic field driving system for individually moving the first auxiliary cores.
The method of claim 17,

The openings have different sizes from each other,

The first auxiliary cores have a magnetic field driving system having a size corresponding to each of the openings.