WO2021201362A1

WO2021201362A1 - Mobile micro-robot control apparatus

Info

Publication number: WO2021201362A1
Application number: PCT/KR2020/014984
Authority: WO
Inventors: 박종오; 김창세; 최은표; 홍아영; 김자영; 강병전
Original assignee: 전남대학교산학협력단
Priority date: 2020-04-03
Filing date: 2020-10-30
Publication date: 2021-10-07
Also published as: KR102389251B1; KR20210124562A

Abstract

The present invention relates to a mobile micro-robot control apparatus. According to the present invention, the mobile micro-robot control apparatus and a mobile micro-robot control system including same are provided, and by using the micro-robot control apparatus comprising: a magnetic field generation unit including two electromagnet coils; a rotational movement unit capable of rotationally moving the magnetic field generation unit; and a linear movement unit capable of linearly moving the magnetic field generation unit, efficient apparatus/system operation is enabled by means of reducing the number of electromagnets to thereby reduce the amount of power for power supply and reduce power consumption, installation and operation of the apparatus in a procedure space is made more efficient by reducing the size of the apparatus/system, and also convenience is increased due to compatibility with existing equipment (such as X-ray machines).

Description

Mobile microrobot control device

The present invention relates to a mobile microrobot control device.

Electromagnetic field devices for driving micro-robots inside the human body outside the human body are being developed. Wired or wireless microrobots are being used depending on the purpose of the procedure in the human body, and technologies for controlling the direction and size of a magnetic field through an electromagnetic field device to drive the microrobot are known or under development. Specifically, for example, a plurality of electromagnets/permanent magnets are disposed in consideration of disease sites in the human body and motion characteristics of microrobots, and an electromagnetic field control device having a fixed or movable system structure is being developed.

The previously developed electromagnetic field control device has a large number of electromagnets used, which increases the device size, making it inefficient to install and operate the device in the treatment space. It is inefficient from various operational viewpoints.

On the other hand, in the case of a magnetic field control device using a permanent magnet, the number of magnets used is small, but there is a limit in controlling the microrobot. In addition, the permanent magnet has a constant magnetization value, which drives the robot by changing the distance between the robot and the magnet and changing the direction of the magnet, so there is a limit in control performance. Due to the time difference, it is difficult to control the magnetic field in real time.

In addition, the existing electromagnetic field control device has a problem in that it is difficult to use it interchangeably with an already installed x-ray device due to the limitations of the size of the device and the arrangement direction of the electromagnets or permanent magnets.

The present inventors have completed the mobile microrobot control apparatus of the present invention and a mobile microrobot control system including the same in order to solve the problems of the prior art.

The present invention has been devised to solve the above-described problems in the prior art, and an object of the present invention is to be able to rotate and move a magnetic field generator including two electromagnet coils arranged to be symmetrical to each other on a two-dimensional plane. An object of the present invention is to provide a movable microrobot control device including a rotary moving unit and a linear moving unit capable of linearly moving the magnetic field generating unit.

Another object of the present invention is to control a bed, a movable microrobot control device provided on both sides in the longitudinal direction of the bed, an X-ray device provided at one end in the longitudinal direction of the bed, and the movable microrobot control device and control for controlling the X-ray device a magnetic field generating unit including two electromagnet coils disposed to be symmetrical to each other on a two-dimensional plane, a rotational moving unit capable of rotating the magnetic field generating unit, and the magnetic field generating unit It is to provide a mobile microrobot control system, characterized in that it includes a linear moving part that can be moved linearly.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention not mentioned can be understood by the following description, and will be more clearly understood by the examples of the present invention. It will also be readily apparent that the objects and advantages of the present invention may be realized by means and combinations indicated in the claims.

In accordance with an aspect of the present invention for achieving the above object, there is provided a mobile microrobot control apparatus comprising: a magnetic field generator including two electromagnet coils arranged to be symmetrical to each other on a two-dimensional plane; a rotational movement unit capable of rotationally moving the magnetic field generator; and a linear moving unit capable of linearly moving the magnetic field generating unit.

In one embodiment of the present invention, it may further include a magnetic field generator including two electromagnet coils arranged to be symmetrical to each other on a two-dimensional plane forming 30 to 90 degrees with the two-dimensional plane.

In one embodiment of the present invention, the electromagnet coil may be a solenoid coil, and the solenoid coil may be configured by winding a magnetic core made of a similar substance in a central portion and a coil wound on the outside of the magnetic core. In addition, the electromagnet coil may be composed of a square coil, a circular coil, and a saddle coil in the form of an air core. Meanwhile, the solenoid coil may include a core protrusion in which the magnetic core is not wound by the coil for magnetic field focusing. The core protrusion has a cylindrical shape having the same diameter as the inner diameter of the solenoid coil, or the diameter of the part where the core protrusion starts is the same as the inner diameter of the solenoid coil and the diameter of the end of the core protrusion is relative to the inner diameter of the solenoid coil , and the shape of the core protrusion may be formed in various shapes, such as a truncated cone shape or a shape in which a cylinder and a truncated cone are combined. In addition, the core protrusion may have the same diameter as the outer diameter of the solenoid coil.

Meanwhile, the electromagnet coil may include a magnetic shield to increase the strength of the magnetic field. In an electromagnet coil having a magnetic core and a coil wound outside the magnetic core, the magnetic shield may be positioned outside the coil winding portion on which the coil is wound and may be configured to surround all or a part of the coil winding portion, and the coil winding portion and the magnetic The length ratio of the shielding part may be 4 to 1:1 to 3, and preferably, the length ratio of the coil winding part and the magnetic shielding part is 4:1, 3:1, 3:2, 4:3, 1:1 days. and, more preferably, a length ratio of 4:3.

In an embodiment of the present invention, the rotational moving unit may be connected to one side of the magnetic field generating unit so that the magnetic field generating unit can rotate in a circle around a region of interest where the magnetic field is desired to be generated.

In one embodiment of the present invention, the rotary moving unit may include a driving means capable of rotating in a circular motion by configuring two electromagnet coils on one axis, and the driving means may be a motor. On the other hand, when the magnetic field generating unit is installed on both sides of the bed, the two rotating moving units may be configured to rotate independently.

In one embodiment of the present invention, the linear moving unit may be configured to be connected to one side of the rotary moving unit to linearly move the magnetic field generating unit to a region of interest where magnetic field generation is desired.

In one embodiment of the present invention, the linear moving part can be moved to the same length as the bed by placing rails in the longitudinal direction on both sides of the bed. In addition, the linear moving unit is provided with a wheel that can be rotated by an external force, so that the magnetic field generating unit is moved in the longitudinal direction of the bed to be positioned in the region of interest. In the case of allowing linear movement through the wheel, a separate locking device capable of controlling the rotation of the wheel may be provided in order to fix the magnetic field generating unit to the corresponding position after moving to the region of interest.

A mobile microrobot control system according to another aspect of the present invention for achieving the object of the present invention is a bed; A mobile microrobot control device provided on both sides in the longitudinal direction of the bed; X-ray device provided at one end in the longitudinal direction of the bed; and a control device for controlling the mobile microrobot controller and the X-ray device, wherein the mobile microrobot controller includes: a magnetic field generator including two electromagnet coils disposed to be symmetrical to each other on a two-dimensional plane; a rotational movement unit capable of rotationally moving the magnetic field generator; and a linear moving unit capable of linearly moving the magnetic field generating unit.

In one embodiment of the present invention, it may further include an image navigation system. The image navigation system is based on the 3D treatment environment, the microrobot movement path, the microrobot position, and the operating status of the magnetic field generator (magnetic field generation area, magnetic field By providing all necessary information through the micro-robot control system such as generation intensity, patient status, etc., through an output device such as a monitor, the operator uses the remote control device to move the mobile microrobot control device and generate a magnetic field, etc. control in real time so that the operation can be performed.

In one embodiment of the present invention, the X-ray apparatus may be provided at one end in the longitudinal direction of the bed, and may be generally provided on the head of the patient. An X-ray device may provide information such as confirmation of a treatment site in the human body, a microrobot location, and a microrobot movement path in real time in an intra-human treatment environment.

In one embodiment of the present invention, the control device is configured to control the current applied to the electromagnet coil constituting the magnetic field generating unit of the mobile microrobot control device, the rotational movement of the rotational moving part, and the linear movement of the linear moving part. and may be configured to control the operation of an X-ray device to obtain information such as a treatment site, a microrobot position, and a movement path.

A mobile microrobot control apparatus and a mobile microrobot control system including the same according to the present invention include: a magnetic field generator including two electromagnet coils; a rotational movement unit capable of rotationally moving the magnetic field generator; and a linear moving unit capable of linearly moving the magnetic field generating unit; by using a microrobot control device comprising a, efficient device/system operation is possible by reducing the number of electromagnets to reduce the number of power supplies for power supply, and reducing power consumption And by simplifying the device/system, it not only improves the efficiency of installation and operation of the device in the treatment space, but also increases the convenience of using it compatible with existing facilities (X-rays, etc.).

1 is a configuration diagram for explaining a mobile microrobot control apparatus according to an embodiment of the present invention.

2 is a view showing a solenoid coil among electromagnet coils according to an embodiment of the present invention.

3 is a view showing a square coil, a circular coil, and a saddle coil among the electromagnet coils according to an embodiment of the present invention.

4A shows an example of an electromagnet coil having a cylindrical core protrusion among the electromagnet coils according to an embodiment of the present invention.

4B shows an example of a magnetic field focusing type electromagnet coil having a core protrusion having a shape with a gradually narrowing end among the electromagnet coils according to an embodiment of the present invention.

4C shows an example of a uniform magnetic field expansion type electromagnet coil having a core protrusion having the same diameter as the outer diameter of the solenoid coil among the electromagnet coils according to an embodiment of the present invention.

5A is a simulation diagram illustrating a magnetic field region generated when a pair of electromagnet coils having a cylindrical core protrusion according to an embodiment of the present invention and current flows in the same rotational direction in each coil.

5B is a simulation diagram illustrating a magnetic field region generated when an electromagnet coil having a cylindrical core protrusion is used as a pair according to an embodiment of the present invention, and current flows through each coil in an opposite rotational direction.

6 shows an example of a solenoid coil including a magnetic shield for increasing magnetic field strength among the electromagnet coils according to an embodiment of the present invention.

7 is a view showing the magnetic field strength in the region of interest according to the length ratio of the coil winding and the magnetic shield in the electromagnet coil including the magnetic shield according to an embodiment of the present invention.

8 is a view showing a magnetic field generating unit and a rotational moving unit according to an embodiment of the present invention.

9 is a view showing a simulation of generating a magnetic field in space through rotational movement among various application examples of a mobile microrobot control apparatus according to an embodiment of the present invention.

10 is a view showing a simulation of generating a magnetic field in space through linear movement among various application examples of a mobile microrobot control apparatus according to an embodiment of the present invention.

11 is a view showing a gradient magnetic field generating magnetic field simulation among various application examples of the mobile microrobot control apparatus according to an embodiment of the present invention.

12 is a diagram illustrating a simulation of a magnetic field forming a uniform magnetic field among various application examples of a mobile microrobot control apparatus according to an embodiment of the present invention.

13 is a configuration diagram for explaining a mobile microrobot control system according to an embodiment of the present invention.

a magnetic field generator including two electromagnet coils disposed to be symmetrical to each other on a two-dimensional plane; a rotational movement unit capable of rotationally moving the magnetic field generator; and a linear moving unit capable of linearly moving the magnetic field generating unit.

The above-described objects, features and advantages will become more clear through the detailed description to be described later with reference to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the present invention pertains to easily implement the technical idea of the present invention You can do it. In addition, in the description of the present invention, if it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a configuration diagram for explaining a mobile microrobot control apparatus 100 according to an embodiment of the present invention.

The mobile microrobot control apparatus 100 according to an embodiment of the present invention includes: a magnetic field generator 110 including two electromagnet coils arranged to be symmetrical to each other on a two-dimensional plane; a rotational moving unit 120 capable of rotating the magnetic field generating unit 110; and a linear moving unit 130 capable of linearly moving the magnetic field generating unit 110 .

It may further include a magnetic field generator including two electromagnet coils 111 disposed to be symmetrical to each other on a two-dimensional plane forming 30 to 90° with the two-dimensional plane.

The electromagnet coil 111 constituting the magnetic field generator 110 may be a solenoid coil 112 , and the solenoid coil 112 has a magnetic core 112-1 and a magnetic core 112-1 made of a paramagnetic material in the center. ) may be configured by winding the coil 112-2 on the outside (FIG. 2). In this case, the coil winding part on which the coil is wound may be configured in a form in which a coil made of a copper wire or an aluminum wire coated with an insulating material is continuously wound in a ring shape. In addition, as shown in FIG. 3 , the electromagnet coil 111 may include a square coil 113 , a circular coil 114 , and a saddle coil 115 in the form of an air core. The shape of the coil shown in FIGS. 2 and 3 is exemplary, and any shape in which a magnetic field can be formed can be used without limitation.

The electromagnet coil 111 constituting the magnetic field generator 110 may be configured in various forms in order to focus the magnetic field on the region of interest or to improve the strength of the magnetic field. 4A to 4C are electromagnet coils capable of controlling a microrobot by focusing a magnetic field on a region of interest. Magnetic cores 116-1, 117-1, and 118-1 made of a paramagnetic material and a coil wound on the outside of the magnetic core ( 116-2, 117-2, 118-2) may be configured. In this case, the coil winding part on which the coil is wound may be configured in a form in which a coil made of a copper wire or an aluminum wire coated with an insulating material is continuously wound in a ring shape.

4A shows one form of various application embodiments of the electromagnet coil 111. The magnetic core 116-1 is a solenoid coil that may include a core protrusion on which the coil is not wound. The core protrusion has a cylindrical shape having the same diameter as the inner diameter of the solenoid coil. 4B shows an example of a magnetic field focusing type electromagnet coil having a core protrusion having a shape that is gradually narrowed at an end. Specifically, for example, the diameter of the protrusion of the core protrusion may be the same as the inner diameter of the solenoid coil, and the diameter of the end of the core protrusion may be relatively smaller than the inner diameter of the solenoid coil. More specifically, for example, the core protrusion may have a truncated cone shape or a shape in which a cylinder and a truncated cone are combined. In the case of using a magnetic field focusing type electromagnet coil having a core protrusion having a gradually narrower end as described above, a magnetic field focused in a narrow area with a higher density may be implemented.

4C shows an example of a uniform magnetic field expansion type electromagnet coil having a core protrusion having the same diameter as the outer diameter of the solenoid coil. In the case of using a magnetic field focusing type electromagnet coil having a core protrusion having the same diameter as the outer diameter of the solenoid coil as in the present embodiment, a magnetic field region formed more widely with uniform strength can be implemented.

5A and 5B show simulations of a magnetic field region formed according to the direction of current flowing in the pair of electromagnet coils 111 shown in FIG. 4A. When a current flows in the same rotational direction in each coil 116-2 wound outside the magnetic core 116-1, as shown in the top view of FIG. 5A , the magnetic field may be focused in a circular shape at the upper center. On the other hand, when the current flows in the opposite rotational direction, as shown in the top view of FIG. 5B , the magnetic field may be focused in an elliptical shape in the upper center.

The electromagnet coil 111 constituting the magnetic field generator 110 may include a magnetic shield to increase the strength of generating a magnetic field in the region of interest.

6 is an electromagnet coil including a magnetic shield for increasing the magnetic field strength among the electromagnet coil according to an embodiment of the present invention, and the magnetic core 119-1 and the coil are wound on the outside of the magnetic core 119-2. The magnetic shield may be positioned outside the coil winding part on which the coil is wound, and may be configured to surround all or a part of the coil winding part. In this case, the magnetic core 119-1 may be made of a soft magnetic material, and the coil winding unit may be formed in a form in which a coil made of a copper wire or an aluminum wire coated with an insulating material is continuously wound in a ring shape.

The magnetic shield may be made of a soft magnetic material magnetized by an external magnetic field, and the material of the soft magnetic material is pure iron, electromagnetic soft iron, silicon steel, permalloy (Ni-Fe-based), Co-Fe-based alloy (ex. VACOFULXTM) ), sendust (Fe-Al-Si-based), Mn-Zn-based ferrite, Ni-Zn-based ferrite, Fe-based amorphous alloy, Co-based amorphous alloy, Fe-based thin film and multi-layer film, Co-based thin film and multi-layer film, and A soft magnetic material selected from the group consisting of a Ni-based thin film and a multilayer film, but is not limited thereto. On the other hand, a means for adjusting the area surrounding the coil winding by adjusting the length of the magnetic shield may be additionally included. The length ratio of the coil winding part and the magnetic shielding part may be 4 to 1:1 to 3, preferably, the length ratio of the coil winding part and the magnetic shielding part being 4:1, 3:1, 3:2, 4:3, It may be 1:1, and more preferably has a length ratio of 4:3. 7 is a comparison of the magnetic field strength in the region of interest according to the length ratio of the coil winding part and the magnetic shielding part through FEM analysis. it can be seen that When a magnetic shield is applied and the ratio of the length of the coil winding to the length of the magnetic shield is 4:1, the magnetic field strength at the center point of the region of interest is about 3.3 mT, and the ratio of the length of the coil winding to the length of the magnetic shield is 3:1 In the case of , the magnetic field strength at the central point of the region of interest is about 3.5 mT, and when the ratio of the length of the coil winding to the length of the magnetic shield is 2:1, the magnetic field strength at the central point of the region of interest is about 3.6 mT, and the length and magnetic field of the coil winding When the ratio of the length of the shield is 3:2, the magnetic field strength at the center point of the region of interest is about 3.9 mT, and when the ratio of the length of the coil winding to the length of the magnetic shield is 4:3, the magnetic field strength at the center point of the region of interest is about 4.1 It can be seen that the magnetic field strength at the center point of the region of interest is about 3.8 mT when mT, the ratio of the length of the coil winding to the length of the magnetic shield is 1:1. As shown in the experimental results, it can be seen that the magnetic field strength at the center point of the region of interest of the microrobot gradually increases as the length of the magnetic shield increases. However, when the length of the magnetic shield was equal to that of the coil winding (1:1), the magnetic field strength at the center point of the ROI of the microrobot decreased. This is the effect that occurs as the magnetic field from the end of the coil winding flows directly into the magnetic shield by the magnetic field circuit effect. Accordingly, it can be seen that configuring the magnetic shield in a shape that does not wrap some ends of the coil winding portion rather than configuring the coil winding portion maximizes the magnetic field strength.

The rotational moving unit 120 has a magnetic field on the other side of the region of interest where the magnetic field is to be generated so that the electromagnet coil 111 can rotate in a circle based on the central axis of the two electromagnet coils 111 arranged to be symmetrical on a two-dimensional plane. It may be configured in connection with the generator 110 .

8 shows an example in which the rotational moving unit 120 is connected to one side of the magnetic field generating unit 110 including two electromagnet coils 111 . The rotation moving unit 120 may include a driving means capable of rotating in a circular motion by configuring the two electromagnet coils 111 as one axis, and the driving means may be a motor. On the other hand, when the magnetic field generating unit 110 is installed on both sides of the bed 210, the two rotary moving units 120 can be independently rotated. The simulation result of the magnetic field plane formed in the region of interest by rotating the magnetic field generating unit 110 by the rotation moving unit 120 is shown in FIG. 9 .

The linear moving unit 130 may be provided on the lower side of the rotation moving unit 120 , and may be configured to move the magnetic field generating unit 110 to a desired region of interest to form a magnetic field.

The linear moving unit 130 may move up to the same length as the bed 210 by placing rails in the longitudinal direction on both sides of the bed 210 . In addition, the linear moving unit 130 may be provided with a wheel that can be rotated by an external force to move the magnetic field generating unit 110 in the longitudinal direction of the bed 210 to position it in the region of interest. In the case of allowing linear movement through the wheel, a separate locking device capable of controlling the rotation of the wheel may be provided in order to fix the magnetic field generating unit 110 to the corresponding position after moving to the region of interest. A simulation result of the magnetic field plane formed in the region of interest by linearly moving the magnetic field generating unit 110 by the linear moving unit 130 is shown in FIG. 10 .

11 and 12 show generation of a gradient magnetic field (FIG. 11) and generation of a uniform magnetic field (FIG. 12) formed by the magnetic field generator 110 of the present invention.

A gradient magnetic field or a uniform magnetic field may be generated by adjusting the direction and magnitude of the current in the electromagnet coil 111 . The direction and strength of the gradient or uniform magnetic field are controlled through current control, and the input current is generated through the magnetic field control equation. By setting the required values for the desired inclination, the direction, and the magnitude of the uniform magnetic field within the region of interest, the required current value can be derived through the magnetic field control equation. Mainly, the uniform magnetic field is responsible for generating torque for the rotational operation of the microrobot, and the gradient magnetic field is responsible for generating torque and driving force for the rotational or moving operation. The uniform magnetic field can be used to control streamlined microrobots such as catheter robots and needle robots, and the gradient magnetic field can be used to control not only streamlined microrobots, but also wireless microrobots such as capsule robots and vascular robots. It can be used selectively.

13 is a configuration diagram for explaining a mobile microrobot control system 200 according to an embodiment of the present invention.

A mobile microrobot control system 200 according to an embodiment of the present invention includes a bed 210; A movable microrobot control device 100 provided on both sides in the longitudinal direction of the bed; X-ray device 220 provided at one end in the longitudinal direction of the bed; and a control device 230 for controlling the movable microrobot control device and the X-ray device, wherein the movable microrobot control device includes two electromagnet coils disposed to be symmetrical to each other on a two-dimensional plane a magnetic field generating unit 110; a rotational movement unit 120 capable of rotationally moving the magnetic field generator; and a linear moving unit 130 capable of linearly moving the magnetic field generating unit.

In addition, the microrobot control system 200 of the present invention may further include an image navigation system 240 . The image navigation system 240 provides information such as a three-dimensional operating environment, a microrobot movement path, a microrobot position, etc. and a magnetic field based on the treatment site and microrobot position information in the human body obtained by the X-ray device 220 . All information necessary to operate the microrobot control system 200, such as the operating status of the generator (magnetic field generation region, magnetic field generation strength, etc.), patient status, etc., necessary for performing a procedure through the microrobot control system, etc. By providing it through an output device, the operator can control the movement and magnetic field generation of the mobile microrobot control device in real time through the control device to perform the procedure.

The movable microrobot control device 100 may be installed on both sides in the longitudinal direction of the bed 210, and a linear moving part 130 capable of linear movement along the longitudinal direction of the bed 210 is provided. , it is possible to easily move the mobile microrobot control device 100 when moving to a region of interest for generating a magnetic field.

The X-ray device 220 may be provided at one end in the longitudinal direction of the bed 210, and will generally be provided on the patient's head.

The X-ray device is intended to provide real-time information such as the confirmation of the treatment site in the human body, the location of the microrobot, and the movement path of the microrobot in the treatment environment. For example, by using an X-ray device to check the treatment site in the human body and based on the microrobot positioning information, the mobile microrobot control device 100 is moved linearly to the exact position to be treated. (100) can be placed.

On the other hand, the microrobot control system 200 of the present invention is compatible with various medical devices such as a body monitoring device for checking heart rate and respiration, an oxygen supply device, and a respiratory anesthesia device in addition to the x-ray device 220 . can be used by

The control device 230 includes a current applied to the electromagnet coil 110 constituting the magnetic field generator 100 of the mobile microrobot control device 100 and a rotational movement and linear movement unit 130 of the rotational movement unit 120 . ) is configured to control the linear movement of In addition, it is configured to control the operation of the X-ray device 220 to obtain information such as a treatment site, a microrobot position, and a movement path. The control device 230 is configured by an operator who performs a procedure using the mobile microrobot control system 200 based on all information necessary for the procedure provided by the image navigation system 240 to configure the mobile microrobot control system. It is configured so that the device can be freely controlled remotely.

The present invention described above is capable of various substitutions, modifications and changes within the scope without departing from the technical spirit of the present invention for those of ordinary skill in the art to which the present invention pertains, so the above-described embodiments and the accompanying drawings is not limited by

[Explanation of code]

100: mobile microrobot control device

110: magnetic field generator

111: electromagnet coil

112: solenoid coil, 112-1: magnetic core, 112-2: coil

113: square coil

114: circular coil

115: saddle coil

116: basic coupling solenoid coil, 116-1: magnetic core, 116-2: coil

117: magnetic field focusing type solenoid coil, 117-1: magnetic core, 117-2: coil

118: uniform magnetic field expansion type solenoid coil, 118-1: magnetic core, 118-2: coil

119: solenoid coil, 119-1: magnetic core, 119-2: coil

120: rotation moving part

130: linear moving part

200: mobile microrobot control system

210: bed

220: X-ray (X-ray) device

230: control device

240: video navigation system

The present invention relates to a mobile microrobot control device.

Claims

a magnetic field generator including two electromagnet coils disposed to be symmetrical to each other on a two-dimensional plane;

a rotational movement unit capable of rotationally moving the magnetic field generator; and

A mobile microrobot control device comprising a; a linear moving unit capable of linearly moving the magnetic field generating unit.
The method of claim 1,

The mobile microrobot control apparatus according to claim 1, further comprising a magnetic field generator including two electromagnet coils arranged to be symmetrical to each other on a two-dimensional plane forming 30 to 90° with the two-dimensional plane.
3. The method according to claim 1 or 2,

The electromagnet coil is a magnetic core made of a paramagnetic material and a solenoid coil in which a coil is wound outside the magnetic core, a square coil, a circular coil, and a saddle coil.
4. The method of claim 3,

The solenoid coil is a mobile microrobot control device, characterized in that it includes a core protrusion on the outside of the magnetic core, the coil is not wound.
5. The method of claim 4,

The mobile microrobot control device, characterized in that the diameter of the protruding portion of the core protrusion is the same as the inner diameter of the solenoid coil, and the diameter of the end of the core protrusion is smaller than the inner diameter of the solenoid coil.
5. The method of claim 4,

The mobile microrobot control device, characterized in that the core protrusion has the same diameter as the outer diameter of the solenoid coil.
4. The method of claim 3,

The solenoid coil is a mobile microrobot control device, characterized in that it includes a magnetic shield.
8. The method of claim 7,

The length ratio of the coil winding part on which the coil is wound and the magnetic shield part among the solenoid coils is 4 to 1: 1 to 3.
3. The method according to claim 1 or 2,

The rotary moving unit is connected to one side of the magnetic field generating unit, and the mobile microrobot control device, characterized in that provided so that the magnetic field generating unit can rotate in a circle around a region of interest to generate a magnetic field.
3. The method according to claim 1 or 2,

The linear movement unit is connected to one side of the rotational movement unit and is provided to linearly move the magnetic field generator to a region of interest where magnetic field generation is desired.
bed;

A mobile microrobot control device provided on both sides in the longitudinal direction of the bed;

X-ray device provided at one end in the longitudinal direction of the bed; and

Including; a control device for controlling the mobile microrobot control device and the X-ray device;

The mobile microrobot control device,

a magnetic field generator including two electromagnet coils disposed to be symmetrical to each other on a two-dimensional plane;

a rotational movement unit capable of rotationally moving the magnetic field generator; and

and a linear movement unit capable of linearly moving the magnetic field generating unit.
12. The method of claim 11,

The mobile microrobot control system according to claim 1, further comprising a magnetic field generator including two electromagnet coils arranged to be symmetrical to each other on a two-dimensional plane forming 30 to 90° with the two-dimensional plane.
13. The method according to claim 11 or 12,

The electromagnet coil is a magnetic core made of a paramagnetic material and a solenoid coil in which a coil is wound on the outside of the magnetic core, a square coil, a circular coil, and a saddle coil.
14. The method of claim 13,

The solenoid coil is a mobile microrobot control system, characterized in that it includes a core protrusion in which the coil is not wound outside the magnetic core.
15. The method of claim 14,

The mobile microrobot control system, characterized in that the diameter of the protruding portion of the core protrusion is the same as the inner diameter of the solenoid coil, and the diameter of the end of the core protrusion is smaller than the inner diameter of the solenoid coil.
15. The method of claim 14,

The mobile microrobot control system, characterized in that the core protrusion has the same diameter as the outer diameter of the solenoid coil.
14. The method of claim 13,

The solenoid coil is a mobile microrobot control system, characterized in that it includes a magnetic shield.
18. The method of claim 17,

The length ratio of the coil winding part on which the coil is wound and the magnetic shield part among the solenoid coils is 4 to 1: 1 to 3. The micro-robot control device.
13. The method according to claim 11 or 12,

The rotational moving unit is connected to one side of the magnetic field generating unit, the mobile microrobot control system, characterized in that provided so that the magnetic field generating unit can rotate in a circle around a region of interest to generate a magnetic field.
13. The method according to claim 11 or 12,

The linear moving part is connected to one side of the rotational moving part and is provided so as to linearly move the magnetic field generator to a region of interest where magnetic field generation is desired.