公开(公告)号：KR1020050010590A

公开(公告)日：2005-01-28

申请号：KR1020030049822

申请日：2003-07-21

Applicant: 한국과학기술원

Inventor： 김수현 ,  곽윤근 ,  민현진

IPC: A61B1/04

Abstract: PURPOSE: An endoscope capsule having paramagnet and a magnetic force applying device therefor are provided to shorten a diagnosing time by accelerating the endoscope capsule while finely controlling the position of the endoscope from the outside of human body. CONSTITUTION: An endoscope capsule includes a capsule(20), a transparent window(23), a camera(22), a battery(26), and a paramagnetic material(24). The capsule is administrated into a subject and moves along an inner organ(10). The transparent window is implemented on one side of the capsule. The camera is implemented in the capsule and takes pictures of the inner organ through the transparent window. The battery is implemented on the other side of the capsule. The paramagnetic material is implemented between the camera and the battery.

Abstract translation: 目的：提供一种具有辅助磁体及其磁力施加装置的内窥镜胶囊，通过在从内部的人体外部精细地控制内窥镜的位置的同时加速内窥镜胶囊来缩短诊断时间。 构成：内窥镜胶囊包括胶囊（20），透明窗（23），相机（22），电池（26）和顺磁材料（24）。 将胶囊施用于受试者并沿内脏器官移动（10）。 透明窗口实现在胶囊的一侧。 相机实现在胶囊中，并通过透明窗口拍摄内脏器官。 电池实现在胶囊的另一侧。 顺磁材料在相机和电池之间实现。

公开(公告)号：KR1020030023806A

公开(公告)日：2003-03-20

申请号：KR1020010056911

申请日：2001-09-14

Applicant: 한국과학기술원

Inventor： 김수현 ,  민현진 ,  임형준 ,  최재성 ,  김병규

IPC: A61B1/00

Abstract: PURPOSE: An apparatus for moving an intestinal endoscope is provided to allow the micro robot to reciprocate in a smooth manner within the intestine of the patient. CONSTITUTION: An apparatus comprises a power generating unit(20) including a motor(21) arranged on the central shaft of a housing(10) and which supplies rotating power by converting an electrical energy into a rotating motion, and a cylindrical worm(22) coupled to the rotating shaft of the motor and which transmits rotating force of the motor to an external source; a power relay unit(30) disposed within the housing, and which relays rotating force of the motor by converting the horizontal circular motion of the power generating unit into a vertical circular motion; and a reciprocating unit(40) penetrating through the housing, and which converts the vertical circular motion of the power relay unit into a linear reciprocation motion.

Abstract translation: 目的：提供一种移动肠内窥镜的装置，以使微机器人能够平稳地在患者的肠内往复运动。 构成：一种装置，包括发电单元（20），其包括布置在壳体（10）的中心轴上并通过将电能转换成旋转运动而提供旋转动力的马达（21）和圆筒形蜗杆（22） ），其耦合到电动机的旋转轴并且将电动机的旋转力传递到外部源; 设置在所述壳体内的动力继电器单元（30），并且通过将所述发电单元的水平圆周运动转换为垂直圆周运动来中继所述马达的旋转力; 以及穿过所述壳体的往复运动单元（40），其将所述动力继电器单元的垂直圆周运动转换为线性往复运动。

公开(公告)号：KR1020020027073A

公开(公告)日：2002-04-13

申请号：KR1020000058441

申请日：2000-10-05

Applicant: 한국과학기술원

Inventor： 김수현 ,  임형준 ,  민현진 ,  홍예선 ,  김병규 ,  임영모

IPC: A61B1/31

Abstract: PURPOSE: A space movement apparatus of a smart capsule for inspecting the inner part of the intestines is provided to improve the mobility of a capsule by employing a plurality of actuators. CONSTITUTION: A capsule(6) is provided with a camera and an illuminating system in the inner part thereof in order to photograph the inner of the intestines. A plurality of actuators(2,3,4) are arranged on a housing of the capsule(6) at a predetermined angle in order to move the capsule(6). A control unit(5) is installed on the tail of the capsule(6), is electrically connected to the actuators(2,3,4) to control forward and backward movements thereof, and controls forward and backward movements and rotational motion of the capsule(6). A capsule protecting film(7) wraps the outer surface of the capsule(6) in order to protect the capsule(6).

Abstract translation: 目的：提供用于检查肠内部的智能胶囊的空间运动装置，以通过使用多个致动器来提高胶囊的移动性。 构成：胶囊（6）在其内部设置有照相机和照明系统，以便拍摄肠内。 多个致动器（2,3,4）以预定角度布置在胶囊（6）的壳体上以便移动胶囊（6）。 控制单元（5）安装在胶囊（6）的尾部上，电连接到致动器（2,3,4）以控制其前进和后退运动，并且控制前后的运动和旋转运动 胶囊（6）。 胶囊保护膜（7）包裹胶囊（6）的外表面以保护胶囊（6）。

公开(公告)号：KR100390860B1

公开(公告)日：2003-07-12

申请号：KR1020010056911

申请日：2001-09-14

Applicant: 한국과학기술원

Inventor： 김수현 ,  민현진 ,  임형준 ,  최재성 ,  김병규

IPC: A61B1/00

Abstract: PURPOSE: An apparatus for moving an intestinal endoscope is provided to allow the micro robot to reciprocate in a smooth manner within the intestine of the patient. CONSTITUTION: An apparatus comprises a power generating unit(20) including a motor(21) arranged on the central shaft of a housing(10) and which supplies rotating power by converting an electrical energy into a rotating motion, and a cylindrical worm(22) coupled to the rotating shaft of the motor and which transmits rotating force of the motor to an external source; a power relay unit(30) disposed within the housing, and which relays rotating force of the motor by converting the horizontal circular motion of the power generating unit into a vertical circular motion; and a reciprocating unit(40) penetrating through the housing, and which converts the vertical circular motion of the power relay unit into a linear reciprocation motion.

Abstract translation: 目的：提供一种用于移动肠内窥镜的设备，以允许微型机器人在患者的肠内以平滑的方式往复运动。 本发明提供一种装置，该装置包括：发电单元（20），其包括布置在壳体（10）的中心轴上的电动机（21），并且通过将电能转换成旋转运动来提供旋转​​动力;以及圆柱蜗杆 ），其连接到电动机的旋转轴并将电动机的旋转力传递到外部源; 功率继电器单元（30），所述功率继电器单元（30）设置在所述壳体内，并且通过将所述发电单元的水平圆周运动转换成竖直圆周运动来中继所述电动机的旋转力; 以及穿过壳体的往复运动单元（40），其将功率继电器单元的竖直圆周运动转换成线性往复运动。

公开(公告)号：KR1020030033502A

公开(公告)日：2003-05-01

申请号：KR1020010065502

申请日：2001-10-23

Applicant: 한국과학기술원

Inventor： 김수현 ,  임형준 ,  민현진 ,  김병규

IPC: A61B1/01

Abstract: PURPOSE: An intestinal travel device is provided to achieve improved performance of movement, while allowing for direction reverse and movement against the adsorptive power of intestine. CONSTITUTION: An intestinal travel device comprises a shell(10) having an appropriate size to be inserted into a narrow and long tube; a plurality of elastic orbits(12) radially arranged at the shell, and which has an elastic force and friction on the inner wall of the tube; and a driving unit mounted on the shell so as to drive the elastic orbit. The driving unit includes a driving motor(14) mounted on the shell; a worm gear(16) mounted to the rotating shaft of the driving motor; and a tooth form arranged on the surface of the elastic orbit at a predetermined angle for each pitch with respect to the lengthwise direction, in such a manner that the tooth form is engaged with the tooth form of the worm gear.

Abstract translation: 目的：提供肠道行走装置，以实现改善的运动性能，同时允许方向反向和抵抗肠道吸附能力的运动。 构成：肠道行走装置包括具有适当尺寸的壳体（10），以插入到狭长管中; 径向布置在壳体处的多个弹性轨道（12），并且在管的内壁上具有弹性力和摩擦力; 以及安装在壳体上以驱动弹性轨道的驱动单元。 驱动单元包括安装在外壳上的驱动马达（14） 安装在所述驱动电动机的旋转轴上的蜗轮（16） 以及以相对于长度方向对于每个节距以预定角度布置在弹性轨道的表面上的齿形，使得齿形与蜗轮的齿形啮合。

公开(公告)号：KR100397845B1

公开(公告)日：2003-09-13

申请号：KR1020010065502

申请日：2001-10-23

Applicant: 한국과학기술원

Inventor： 김수현 ,  임형준 ,  민현진 ,  김병규

IPC: A61B1/01

Abstract: PURPOSE: An intestinal travel device is provided to achieve improved performance of movement, while allowing for direction reverse and movement against the adsorptive power of intestine. CONSTITUTION: An intestinal travel device comprises a shell(10) having an appropriate size to be inserted into a narrow and long tube; a plurality of elastic orbits(12) radially arranged at the shell, and which has an elastic force and friction on the inner wall of the tube; and a driving unit mounted on the shell so as to drive the elastic orbit. The driving unit includes a driving motor(14) mounted on the shell; a worm gear(16) mounted to the rotating shaft of the driving motor; and a tooth form arranged on the surface of the elastic orbit at a predetermined angle for each pitch with respect to the lengthwise direction, in such a manner that the tooth form is engaged with the tooth form of the worm gear.

Abstract translation: 目的：提供肠道移动装置以实现改善的运动性能，同时允许方向反向并且抵抗肠的吸附力运动。 构成：一种肠道传送装置包括一个具有适当尺寸的外壳（10），以便插入一个狭长管中; 多个弹性轨道（12），所述多个弹性轨道径向布置在所述壳体处，并且在所述管的内壁上具有弹性力和摩擦力; 以及安装在壳体上以驱动弹性轨道的驱动单元。 驱动单元包括安装在壳体上的驱动马达（14） 安装在驱动电机的旋转轴上的蜗轮（16） 以及齿形以与蜗轮的齿形啮合的方式以相对于长度方向的每个节距以预定角度布置在弹性轨道的表面上。

公开(公告)号：KR100437262B1

公开(公告)日：2004-06-23

申请号：KR1020000058441

申请日：2000-10-05

Applicant: 한국과학기술원

Inventor： 김수현 ,  임형준 ,  민현진 ,  홍예선 ,  김병규 ,  임영모

IPC: A61B1/31

Abstract: PURPOSE: A space movement apparatus of a smart capsule for inspecting the inner part of the intestines is provided to improve the mobility of a capsule by employing a plurality of actuators. CONSTITUTION: A capsule(6) is provided with a camera and an illuminating system in the inner part thereof in order to photograph the inner of the intestines. A plurality of actuators(2,3,4) are arranged on a housing of the capsule(6) at a predetermined angle in order to move the capsule(6). A control unit(5) is installed on the tail of the capsule(6), is electrically connected to the actuators(2,3,4) to control forward and backward movements thereof, and controls forward and backward movements and rotational motion of the capsule(6). A capsule protecting film(7) wraps the outer surface of the capsule(6) in order to protect the capsule(6).

Abstract translation: 目的：提供一种用于检查肠内部的智能胶囊的空间移动装置，以通过采用多个致动器来提高胶囊的移动性。 组成：胶囊（6）在其内部设置有照相机和照明系统以拍摄肠内部。 多个致动器（2,3,4）以预定角度布置在胶囊（6）的外壳上以便移动胶囊（6）。 控制单元（5）安装在胶囊（6）的尾部上，与致动器（2,3,4）电连接以控制其向前和向后移动，并且控制向前和向后移动以及 胶囊（6）。 胶囊保护膜（7）包裹胶囊（6）的外表面以保护胶囊（6）。

公开(公告)号：KR100397846B1

公开(公告)日：2003-09-13

申请号：KR1020010067709

申请日：2001-10-31

Applicant: 한국과학기술원

Inventor： 김수현 ,  민현진 ,  임형준 ,  김병규

IPC: A61B1/00

Abstract: PURPOSE: An inner-tube moving device is provided to be capable of performing a moving moment efficiently by securing a sufficient friction even in a slippery tube. CONSTITUTION: A main body(12) has an appropriate size and weight so as to move in a narrow tube, and an electric-powered motor(14) is mounted on the main body(12). A pair of rotary links(16A,16B) are installed at both sides of the main body(12) so as to be rotated. Put links(18A,18B) are connected to the rotary links and lift the main body(12) to make the main body progress when the rotary links are rotated. A power transfer unit is supplied with a driving force of the motor(14) and transfers a rotary power to the rotary links(16A,16B). A power control part(18) supplies the power of the motor and controls a rotary direction of the motor(14).

Abstract translation: 目的：提供一种内管移动装置，即使在光滑管中也能确保充分的摩擦力，从而能够有效地执行移动力矩。 组成：主体（12）具有适当的尺寸和重量以便在狭窄的管内移动，并且电动马达（14）安装在主体（12）上。 一对旋转连杆（16A，16B）安装在主体（12）的两侧以便旋转。 将旋转连杆（18A，18B）连接到旋转连杆，并提升主体（12），以使旋转连杆旋转时主体进展。 动力传递单元被供给马达（14）的驱动力并且将旋转动力传递到旋转连杆（16A，16B）。 功率控制部分（18）提供电动机的功率并控制电动机（14）的旋转方向。

公开(公告)号：KR1020030035594A

公开(公告)日：2003-05-09

申请号：KR1020010067709

申请日：2001-10-31

Applicant: 한국과학기술원

Inventor： 김수현 ,  민현진 ,  임형준 ,  김병규

IPC: A61B1/00

Abstract: PURPOSE: An inner-tube moving device is provided to be capable of performing a moving moment efficiently by securing a sufficient friction even in a slippery tube. CONSTITUTION: A main body(12) has an appropriate size and weight so as to move in a narrow tube, and an electric-powered motor(14) is mounted on the main body(12). A pair of rotary links(16A,16B) are installed at both sides of the main body(12) so as to be rotated. Put links(18A,18B) are connected to the rotary links and lift the main body(12) to make the main body progress when the rotary links are rotated. A power transfer unit is supplied with a driving force of the motor(14) and transfers a rotary power to the rotary links(16A,16B). A power control part(18) supplies the power of the motor and controls a rotary direction of the motor(14).

Abstract translation: 目的：提供内管移动装置，以便能够通过即使在光滑管中确保足够的摩擦力来有效地执行移动力矩。 构成：主体（12）具有适当的尺寸和重量以便在狭窄的管中移动，并且电动马达（14）安装在主体（12）上。 一对旋转连杆（16A，16B）安装在主体（12）的两侧以便旋转。 将连杆（18A，18B）连接到旋转连杆并提升主体（12），以使旋转连杆旋转时使主体进入。 动力传递单元被提供有电机（14）的驱动力，并将旋转动力传递到旋转连杆（16A，16B）。 动力控制部件（18）提供马达的动力并控制马达（14）的旋转方向。