WO2023101105A1 - Dispositif électromagnétique multimode pour commander un mouvement cible et un chauffage - Google Patents

Dispositif électromagnétique multimode pour commander un mouvement cible et un chauffage Download PDF

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WO2023101105A1
WO2023101105A1 PCT/KR2022/003590 KR2022003590W WO2023101105A1 WO 2023101105 A1 WO2023101105 A1 WO 2023101105A1 KR 2022003590 W KR2022003590 W KR 2022003590W WO 2023101105 A1 WO2023101105 A1 WO 2023101105A1
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Prior art keywords
magnetic field
heating
pair
field generating
generating members
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PCT/KR2022/003590
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English (en)
Korean (ko)
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김성훈
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원광대학교산학협력단
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Publication of WO2023101105A1 publication Critical patent/WO2023101105A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/72—Micromanipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M31/00—Devices for introducing or retaining media, e.g. remedies, in cavities of the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M31/00—Devices for introducing or retaining media, e.g. remedies, in cavities of the body
    • A61M31/002—Devices for releasing a drug at a continuous and controlled rate for a prolonged period of time
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00345—Micromachines, nanomachines, microsystems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A61B2034/731—Arrangement of the coils or magnets

Definitions

  • the present invention relates to a target movement and heating control multi-mode electromagnetic device, and more particularly, to a target movement and heating control multi-mode electromagnetic device capable of selectively heating a microrobot while controlling its movement.
  • Minimally invasive surgery using microrobots minimizes the size of the incision, reduces the patient's pain, and shortens the recovery period. Recently, many studies have been conducted.
  • a pair of Helmholtz coils in which current flows in the same direction as a basic electromagnet, are vertically arranged in the space of the x-axis, y-axis, and z-axis.
  • This Helmholtz coil generates a uniform magnetic field and can implement a magnetic field that rotates in a certain direction through vertical arrangement of three pairs and current control, so that the microrobot with a permanent magnet magnetized vertically in the axial direction inside rotates. rotates according to the magnetic field.
  • Minimally invasive surgery using a microrobot whose movement is controlled by a conventional Helmholtz coil is being performed in a manner in which a microrobot located around a lesional tissue is heated to apply a drug loaded in the microrobot to the lesional tissue.
  • the driving system of the conventional electromagnetic microrobot includes a robot control device (for example, a Helmholtz coil) for controlling the position of the microrobot, a thermal treatment device for heating the microrobot, and an electromagnetic sensing device for sensing the position of the microrobot, respectively. Since it is provided independently, there is a problem in that it occupies a lot of space in the entire system.
  • a robot control device for example, a Helmholtz coil
  • Patent Document 1 Republic of Korea Patent Publication No. 10-2021-0018654 (published on February 18, 2021)
  • the present invention was derived to solve the above problems, and the present invention aims to provide a target movement and heating control multi-mode electromagnetic device capable of selectively heating the microrobot while controlling the movement of the microrobot. .
  • Another object of the present invention is to provide a target movement and heating control multi-mode electromagnetic device capable of complex control by generating a frequency for heating the microrobot and a frequency for tracking the position of the microrobot in one coil.
  • the present invention detects the location of the microrobot to track the location of the patient's lesion, selectively heats only the microrobot corresponding to the location of the lesion, and accurately applies the drug contained in the microrobot to the location of the lesion to treat the lesion tissue. It is yet another object to provide a target movement and heating controlled multimode electromagnetic device.
  • a target movement and heating control multi-mode electromagnetic device includes a fixed frame, a pair of first magnetic field generating members, a pair of second magnetic field generating members, and a pair of first magnetic field generating members installed orthogonally to each other on the fixed frame. It may include a robot control unit installed on a fixed frame to be positioned between a magnetic field generating unit including three magnetic field generating members and a pair of third magnetic field generating members.
  • the robot control unit may include a heating and location tracking coil and a heating and location tracking control device that generates either a heating frequency or a location tracking frequency to the heating and location tracking coil.
  • the heating and location tracking control device may include a heating resonance member that is operated at different times and generates a heating frequency and a location tracking resonance member that generates a location tracking frequency.
  • the robot control unit may further include a magnetic field receiving coil installed adjacent to the heating and location tracking coils.
  • a non-magnetic field generating coil surrounded by the third magnetic field generating member and installed on the fixed frame facing the robot controller may be further included.
  • the magnetic field generating unit generates a uniform magnetic field in each of the pair of first magnetic field generating members, the pair of second magnetic field generating members, and the pair of third magnetic field generating members, or the pair of first magnetic field generating members and
  • a locomotion control device that generates a uniform magnetic field in the pair of second magnetic field generating members and generates a gradient magnetic field in the pair of third magnetic field generating members or generates a gradient magnetic field only in the pair of third magnetic field generating members can include
  • the multi-mode electromagnetic device for controlling target movement and heating provides the following effects.
  • the present invention has an effect of selectively heating the microrobot while controlling the movement of the microrobot.
  • a frequency for heating the microrobot and a frequency for tracking the position of the microrobot can be generated from one coil, so that complex control is possible.
  • the present invention detects the location of the microrobot, tracks the location of the patient's lesion, selectively heats only the microrobot corresponding to the location of the lesion, and accurately applies the drug contained in the microrobot to the location of the lesion to treat the lesion tissue. there is.
  • FIG. 1 is a perspective view showing a multi-mode electromagnetic device for controlling target movement and heating according to a first embodiment of the present invention.
  • FIG. 2 is an exploded perspective view illustrating the target movement and heating control multi-mode electromagnetic device of FIG. 1 .
  • FIG. 3 is a front view showing the target movement and heating control multi-mode electromagnetic device of FIG. 1;
  • FIG. 4 is a side view of the target movement and heating control multi-mode electromagnetic device of FIG. 1;
  • FIG. 5 is a plan view illustrating the target movement and heating control multi-mode electromagnetic device of FIG. 1;
  • FIG. 6 is a diagram for explaining a robot controller of the multi-mode electromagnetic device for controlling target movement and heating of FIG. 1 .
  • FIG. 7 is an experimental image to explain a state in which the heating temperature of the microrobot is controlled by the magnetic field generator of the target movement and heating control multi-mode electromagnetic device of FIG. 1 .
  • FIG. 8 is an exploded perspective view showing a multi-mode electromagnetic device for controlling target movement and heating according to a second embodiment of the present invention.
  • FIG. 9 is a front view of the target movement and heating control multi-mode electromagnetic device of FIG. 8;
  • FIG. 10 is a side view of the target movement and heating control multi-mode electromagnetic device of FIG. 8;
  • FIG. 11 is a plan view illustrating the target movement and heating control multi-mode electromagnetic device of FIG. 8 .
  • FIG. 12 is a diagram for explaining a non-magnetic field region generated by a non-magnetic field generating coil of the multi-mode electromagnetic device for controlling target movement and heating of FIG. 8 .
  • FIG. 13 is an image for explaining the area of a non-magnetic field region generated by a non-magnetic field generating coil of the multi-mode electromagnetic device for controlling target movement and heating of FIG. 8 .
  • FIG. 14 is an image for explaining movement of a non-magnetic field region generated by a non-magnetic field generating coil of the multi-mode electromagnetic device for controlling target movement and heating of FIG. 8 .
  • first and second may be used to describe various components, but the components should not be limited by the terms. These terms are only used for the purpose of distinguishing one component from another.
  • FIGS. 1 to 14 a multi-mode electromagnetic device for controlling target movement and heating according to embodiments of the present invention will be described in detail with reference to FIGS. 1 to 14 .
  • FIG. 1 is a perspective view showing a target movement and heating control multi-mode electromagnetic device according to a first embodiment of the present invention
  • FIG. 2 is an exploded perspective view showing the target movement and heating control multi-mode electromagnetic device of FIG. 3 is a front view showing the target movement and heating control multi-mode electromagnetic device of FIG. 1
  • FIG. 4 is a side view showing the target movement and heating control multi-mode electromagnetic device of FIG. 1
  • FIG. 5 is the target movement and heating control multi-mode electromagnetic device of FIG. It is a plan view showing the heating control multi-mode electromagnetic device
  • FIG. 6 is a view for explaining the robot controller of the target movement and heating control multi-mode electromagnetic device of FIG. 1 .
  • the target movement and heating control multi-mode electromagnetic device 100 includes a fixed frame 110, a magnetic field generator 120 and a robot controller ( 130) may be included.
  • the target movement and heating control multi-mode electromagnetic device 100 may be used to treat diseased tissue by controlling a microrobot or nanorobot.
  • Microrobots or nanorobots contain drugs for treating diseased tissues, and when heated to a certain temperature or higher, the loaded drugs can be released to treat the diseased tissues.
  • nano robots can be controlled in the same way.
  • the fixed frame 110 may be formed to have a certain area and a certain height.
  • a magnetic field generator 120 and a robot control unit 130 may be installed in the fixed frame 110 .
  • the fixing frame 110 fixes the magnetic field generator 120 and the robot control unit 1300 by welding, or the magnetic field generator 120 through separate fastening members (not shown) such as bolts and nuts.
  • the robot control unit 130 can be fixed.
  • the fixed frame 110 may be formed to be height-adjustable according to the installation location.
  • the fixing frame 110 may be formed in a telescopic manner in a height direction and connected to a linear motor to adjust the height.
  • the fixing frame 110 is shown as being formed in a rectangular shape in the drawing, but is not intended to be limited thereto, and any shape in which the magnetic field generator 120 and the robot controller 130 according to the present embodiment can be installed can also be adopted.
  • the magnetic field generator 120 may be installed on the fixed frame 110 .
  • the magnetic field generator 120 controls the locomotion of the microrobot or nanorobot, controls the heating temperature of the microrobot, and can adjust the heating position so that only a specific microrobot among a plurality of microrobots can selectively generate heat. .
  • the magnetic field generating unit 120 includes a pair of first magnetic field generating members 121, a pair of second magnetic field generating members 122, and a pair of third magnetic field generating members 123 installed orthogonally to each other. can do.
  • the pair of first magnetic field generating members 121, the pair of second magnetic field generating members 122, and the pair of third magnetic field generating members 123 may be Helmholtz coils, and each of the two coaxial coils has its radius. It can be positioned as far apart as possible.
  • the pair of first magnetic field generating members 121, the pair of second magnetic field generating members 122, and the pair of third magnetic field generating members 123 each have two coaxial coils with the same magnitude of current in the same direction. By being applied, a magnetic field can be formed in the axial direction between the two coaxial coils.
  • the magnetic field generator 120 controls the current applied to the pair of first magnetic field generating members 121, the pair of second magnetic field generating members 122, and the pair of third magnetic field generating members 123.
  • a locomotion control device (not shown) may be further included.
  • a pair of first magnetic field generating members 121 may be installed on the fixed frame 110 along the x-axis.
  • the pair of first magnetic field generating members 121 may generate a uniform magnetic field by receiving current under the control of a locomotion controller (not shown).
  • a pair of second magnetic field generating members 122 may be installed on the fixed frame 110 along the y-axis.
  • the pair of second magnetic field generating members 122 may be located inside the pair of first magnetic field generating members 121 .
  • the pair of second magnetic field generating members 122 may generate a uniform magnetic field by receiving current under the control of a locomotion controller (not shown).
  • a pair of third magnetic field generating members 123 may be installed on the fixed frame 110 along the z-axis.
  • the pair of third magnetic field generating members 123 may be located inside the pair of second magnetic field generating members 122 .
  • the pair of third magnetic field generating members 123 may generate a uniform magnetic field or a gradient magnetic field by receiving current under the control of a locomotion controller (not shown).
  • the locomotion controller (not shown) applies current to each of the pair of first magnetic field generating members 121, the pair of second magnetic field generating members 122 and the pair of third magnetic field generating members 123 Thus, a uniform magnetic field can be generated.
  • a rotating magnetic field is generated due to a uniform magnetic field generated from each of the pair of first magnetic field generating members 121, the pair of second magnetic field generating members 122 and the pair of third magnetic field generating members 123,
  • the microrobot can generate propulsion by synchronizing with the rotating magnetic field.
  • the microrobot may be able to roll and rotate.
  • the locomotion control device applies a current to each of the pair of first magnetic field generating members 121 and the pair of second magnetic field generating members 122 to generate a uniform magnetic field, and A current may be applied to the pair of third magnetic field generating members 123 to generate a gradient magnetic field.
  • the vector sum of the uniform magnetic fields generated from the pair of first magnetic field generating members 121 and the pair of second magnetic field generating members 122 and the gradient magnetic fields generated from the pair of third magnetic field generating members 123 As a result, a linear magnetic field is generated, and the microrobot can move linearly in synchronization with the linear magnetic field.
  • the locomotion control device may generate a gradient magnetic field by applying a current only to the pair of third magnetic field generating members 123 .
  • a trapping point TP is formed on the x-axis-y-axis plane, and the microrobot moves to the trapping point by the gradient magnetic field generated by the pair of third magnetic field generating members 123 and its own magnetic force.
  • the trapping point is generated by the gradient magnetic field generated by the pair of third magnetic field generating members 123, and the pair of first magnetic field generating members 121 and the pair of second magnetic field generating members 122, respectively.
  • the position can be controlled by a uniform magnetic field generated from
  • the gradient magnetic field directed to the trapping point is reduced, and the cluster shape of the plurality of microrobots is widened by the repulsive force, and the pair of third magnetic fields
  • the gradient magnetic field toward the trapping point increases, and thus the cluster form of the plurality of microrobots may be narrowed.
  • the magnetic field generator 120 may control rotational movement, linear (parallel) movement, and movement through a trapping point of the microrobot according to a current applied by a locomotion controller (not shown).
  • the magnetic field generator 120 Static Magnetic Fields (SMF) can be created.
  • the static magnetic field is a constant magnetic field that does not change in strength or direction over time, unlike low-frequency and high-frequency alternating magnetic fields, and may be a state in which there is no gradient magnetic field at all and may have a frequency of 0 Hz.
  • the static magnetic field can control the heating temperature of the microrobot when the microrobot generates heat by the heating and position tracking coil 131 of the robot controller 130 to be described below.
  • the microrobot may generate maximum heat when there is no static magnetic field, and the heating temperature may decrease as the strength of the static magnetic field increases.
  • the static magnetic field can control the alignment state of the microrobot, and the heating efficiency of the microrobot can be increased in the aligned state.
  • the robot controller 130 may be installed on the fixed frame 110 to be positioned between the pair of third magnetic field generating members 123 .
  • the robot control unit 130 may include a heating and location tracking coil 131, a magnetic field receiving coil 132, and a heating and location tracking control device 133.
  • the heating and location tracking coil 131 is a function of a coil for generating an alternating magnetic field (AMF) for heating the microrobot and a magnetic particle image (Magnetic Particle Image) for tracking the position of the microrobot. It can perform all functions of coil for Image, MPI).
  • AMF alternating magnetic field
  • Magnetic Particle Image Magnetic Particle Image
  • the heating and location tracking coil 131 may generate a heating frequency for heating the microrobot or a location tracking frequency for tracking the location of the microrobot under the control of the heating and positioning control device 133. .
  • the heating frequency may be 200 kHz, and the intensity of the magnetic field at the center of the heating and position tracking coil 131 may be up to 30 kA/m.
  • the location tracking frequency may be 20 kHz, and the intensity of the magnetic field at the center of the heating and location tracking coil 131 may be up to 25 kA/m.
  • the microrobot may generate heat due to magnetic moment rotation (Neel), physical rotation (Brownian), hysteresis loss, and the like according to the generation of the heating frequency.
  • a signal for the current position of the microrobot may be transmitted to the magnetic field receiving coil 132 to be described below.
  • the magnetic field receiving coil 132 may be installed adjacent to the heating and location tracking coil 131 . More specifically, the magnetic field receiving coil 132 may be installed inside the heating and location tracking coil 131 .
  • the magnetic field receiving coil 132 may receive a signal about the position of the microrobot when a position tracking frequency is generated by the heating and position tracking coil 131 .
  • the heating and location tracking control device 133 may generate either a heating frequency or a location tracking frequency by applying a current to the heating and location tracking coil 131 .
  • the heating and location tracking control device 133 may include a heating resonance member 1331 and a location tracking resonance member 1332 .
  • the heating resonance member 1331 and the location tracking resonance member 1332 may be operated at different times by the switch 1333. That is, the heating resonance member 1331 and the location tracking resonance member 1332 may not be operated at the same time, but only one.
  • the heating resonance member 1331 When the heating resonance member 1331 is turned on by the switch 1333, a heating frequency may be generated.
  • the heating resonance member 1331 may be a 200 kHz resonance circuit.
  • the location tracking resonance member 1332 When the location tracking resonance member 1332 is turned on by the switch 1333, a location tracking frequency may be generated.
  • the location tracking resonance member 1332 may be a 20 kHz resonance circuit.
  • the target movement and heating control multi-mode electromagnetic device 100 performs rotational movement, linear (parallel) movement, and movement through a trapping point of the microrobot according to the magnetic field generated by the magnetic field generator 120. It is possible to control the three-dimensional movement of the microrobot by controlling, and to control the temperature of the microrobot, which is heated by the heating and position tracking coil 131, using the static magnetic field generated by the magnetic field generator 120.
  • the target movement and heating control multi-mode electromagnetic device 100 can generate the heating frequency and the position tracking frequency in one heating and position tracking coil 131, so that the coil generating the heating frequency and Since it is not necessary to have each coil generating a position tracking frequency, the size of the device itself can be reduced.
  • FIG. 8 is an exploded perspective view showing a target movement and heating control multi-mode electromagnetic device according to a second embodiment of the present invention
  • FIG. 9 is a front view showing the target movement and heating control multi-mode electromagnetic device of FIG. 10 is a side view illustrating the target movement and heating control multi-mode electromagnetic device of FIG. 8
  • FIG. 11 is a plan view illustrating the target movement and heating control multi-mode electromagnetic device of FIG. 8 .
  • the target movement and heating control multi-mode electromagnetic device 200 includes a fixed frame 210, a magnetic field generator 220, a robot controller ( 230) and a non-magnetic field generating coil 240.
  • the fixed frame 210, the magnetic field generator 220, and the robot controller 230 according to the present embodiment are the same as the fixed frame 110, the magnetic field generator 120, and the robot controller 130 according to the first embodiment. Therefore, only the different configurations will be described below.
  • the non-magnetic field generating coil 240 may be surrounded by a pair of third magnetic field generating members 223 and installed on the fixed frame 210 facing the robot controller 230 . That is, the non-magnetic field generating coils 240 may be formed as a pair and may be positioned inside the pair of third magnetic field generating members 223 . And inside the non-magnetic field generating coil 240, the robot control unit 230 may be located.
  • the non-magnetic field generating coil 240 may be installed with a z-axis coaxial with the pair of third magnetic field generating members 223 as an axis. A current in the opposite direction is applied to each pair of the non-magnetic field generating coils 240, and accordingly, a field free point (FFP), which is an area without a magnetic field, can be formed in the center (see FIG. 12).
  • the non-magnetic field generating coil 240 may generate a non-magnetic field region FFP by applying a current of I1 to one coil and a current of -I1 to the other coil.
  • the area of the non-magnetic field region FFP may be varied by a gradient magnetic field generated from the pair of third magnetic field generating members 223 .
  • the area of the non-magnetic field region FFP decreases as the gradient magnetic field generated from the pair of third magnetic field generating members 223 increases, and increases as the gradient magnetic field generated from the pair of third magnetic field generating members 223 decreases. can do.
  • the position of the non-magnetic field region FFP may be changed by a uniform magnetic field generated from each of the pair of first magnetic field generating members 221 and the pair of second magnetic field generating members 222 .
  • position tracking of the microrobot using the magnetic particle image (MPI) technique according to the present embodiment may be performed in the following process.
  • a non-magnetic field region (FFP) is generated in the non-magnetic field generating coil 240 and a current is applied to the magnetic field generator 220 to generate a static magnetic field.
  • FFP non-magnetic field region
  • the magnetic field generating unit 220 controls the position of the non-magnetic field area (FFP) and scans the non-magnetic field area (FFP)
  • the microrobot existing in the non-magnetic field area (FFP) reacts to generate a position signal and receive a magnetic field.
  • the position of the microrobot may be detected by receiving the position signal of the microrobot from the coil 232 .
  • the non-magnetic field region (FFP) is generated by the non-magnetic field generating coil 240
  • current is not applied to the pair of third magnetic field generating members 223 so that the gradient magnetic field is not formed.
  • a uniform magnetic field (not shown) may be generated in the generating member 222 to move the third non-magnetic field region FFP in the y-axis direction.
  • the target movement and heating control multi-mode electromagnetic device 200 controls rotational movement, linear (parallel) movement, and movement through a trapping point of the microrobot according to the magnetic field generated by the magnetic field generator 220. It is possible to control the three-dimensional movement of the microrobot and to control the temperature of the microrobot heated by the heating and location tracking coil 231 using the static magnetic field generated by the magnetic field generator 220 .
  • the target movement and heating control multi-mode electromagnetic device 200 can generate the heating frequency and the position tracking frequency in one heating and position tracking coil 231, so that the coil generating the heating frequency and Since it is not necessary to have each coil generating a position tracking frequency, the size of the device itself can be reduced.
  • the target movement and heating control multi-mode electromagnetic device 200 generates a non-magnetic field region (FFP) through the non-magnetic field generating coil 240, and a pair of first magnetic field generating members 221 , By using a pair of second magnetic field generating members 222 and a pair of third magnetic field generating members 223 to control the location and area of the non-magnetic field area FFP, the microscopic area within the non-magnetic field area FFP Only robots can be selectively heated.
  • FFP non-magnetic field region
  • the target movement and heating control multi-mode electromagnetic device 200 can selectively heat only the microrobot in the non-magnetic field region (FFP) corresponding to the location of the lesion, thereby replacing the conventional hypertherima method.
  • FFP non-magnetic field region

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  • Life Sciences & Earth Sciences (AREA)
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  • Bioinformatics & Cheminformatics (AREA)
  • Medicinal Chemistry (AREA)
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Abstract

La présente invention concerne un dispositif électromagnétique multimode pour commander un mouvement cible et un chauffage, apte à chauffer sélectivement un micro-robot tout en commandant le mouvement du micro-robot. La présente invention peut comprendre : un cadre fixe ; une unité de génération de champ magnétique comprenant une paire de premiers éléments de génération de champ magnétique, une paire de deuxièmes éléments de génération de champ magnétique, et une paire de troisièmes éléments de génération de champ magnétique, qui sont installées de manière orthogonale les unes par rapport aux autres dans le cadre fixe ; et une unité de commande de robot installée sur le cadre fixe de façon à être positionnée entre la paire de troisièmes éléments de génération de champ magnétique.
PCT/KR2022/003590 2021-11-30 2022-03-15 Dispositif électromagnétique multimode pour commander un mouvement cible et un chauffage WO2023101105A1 (fr)

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