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公开(公告)号：KR1020140026957A
公开(公告)日：2014-03-06
申请号：KR1020120093136
申请日：2012-08-24
Applicant: 전남대학교산학협력단
IPC: A61B17/22 , A61B17/3207 , A61B17/34 , A61B19/00
Abstract: The present invention relates to a micro-robot for intravascular therapy capable of wirelessly removing foreign materials from blood vessels using alternating magnetic fields and a system thereof. The micro-robot of the present invention includes a housing (110) which has a cutting tool (111) on the front of one side and has a guide hollow (112) therein, and a permanent magnet (120) which is located in the guide hollow (112) and can move forward and backward. The micro-robot can be driven by alternating magnetic fields generated from an external a gradient magnetic coil unit, can be easily manufactured due to a simplified structure, and allows effective intravascular therapy.
Abstract translation: 本发明涉及一种用于血管内治疗的微型机器人，其能够使用交变磁场从血管中无线地去除异物及其系统。 本发明的微型机器人包括：壳体（110），其在一侧的前部具有切割工具（111），并且在其中具有引导空心（112）;以及永磁体（120），其位于 引导空心（112），可以向前和向后移动。 微机器人可以由外部梯度磁性线圈单元产生的交变磁场驱动，由于结构简单，可以容易地制造，并允许有效的血管内治疗。
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公开(公告)号：KR101349275B1
公开(公告)日：2014-01-09
申请号：KR1020120092955
申请日：2012-08-24
Applicant: 전남대학교산학협력단
CPC classification number: G06T7/33 , H04N13/106
Abstract: The present invention relates to a system for matching a two-dimensional image and a three-dimensional image using fiducial markers and a method for the same. The purpose of the present invention is to provide a system for generating a two-dimensional image (fluoroscopy) so as to be positioned on a plane of a virtual three-dimensional rectangular parallelepiped, recognizing fiducial markers from the two-dimensional image, and matching the two-dimensional image and a three-dimensional image (CT 3D) in real time and a method for the same. To achieve the above purpose, the system of the present invention comprises: a three-dimensional image input unit for receiving, from a three-dimensional image device, a three-dimensional image (CT 3D) including fiducial markers; a two-dimensional image acquisition unit for acquiring a two-dimensional image (fluoroscopy) including fiducial markers with a microrobot inserted into a body; and a matching unit for matching the three-dimensional image inputted through the three-dimensional image input unit and the two-dimensional image acquired through the two-dimensional image acquisition unit to generate a three-dimensional matching image. [Reference numerals] (100) 3D image input unit; (20) 3D image device; (200) 2D image acquisition unit; (300) Matching unit; (400) Robot tracking unit; (AA) Generate a matching 3D image; (BB) Output the position of a micro robot(30) in real time
Abstract translation: 本发明涉及使用基准标记对二维图像和三维图像进行匹配的系统及其方法。 本发明的目的是提供一种用于生成二维图像（荧光透视）的系统，以便将其定位在虚拟三维长方体的平面上，从二维图像识别基准标记物，并且匹配 二维图像和三维图像（CT 3D）实时和一种方法相同。 为了实现上述目的，本发明的系统包括：三维图像输入单元，用于从三维图像装置接收包括基准标记的三维图像（CT 3D）; 二维图像获取单元，用于获取包含插入到体内的微型机器人的基准标记的二维图像（荧光透视）; 以及匹配单元，用于匹配通过三维图像输入单元输入的三维图像和通过二维图像获取单元获取的二维图像，以生成三维匹配图像。 （附图标记）（100）3D图像输入单元; （20）3D图像装置; （200）2D图像采集单元; （300）配套单元; （400）机器人跟踪单元; （AA）生成匹配的3D图像; （BB）实时地输出微机械手（30）的位置
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公开(公告)号：KR101272156B1
公开(公告)日：2013-06-05
申请号：KR1020110087546
申请日：2011-08-31
Applicant: 전남대학교산학협력단
CPC classification number: H01F7/02 , A61B6/12 , A61B34/30 , A61B34/72 , A61B34/73 , A61B2017/00345 , A61B2034/303 , A61B2090/376 , A61N2/002
Abstract: 본 발명은 혈관치료용 마이크로로봇시스템에 관한 것으로, 보다 상세하게는 구형의 돌기를 가진 마이크로로봇의 빠른 회전력을 이용하여 혈관을 막고있는 이물질을 제거하여 막혀있는 혈관을 치료하는 혈관치료용 마이크로로봇시스템에 관한 것이다.
이러한 목적을 달성하기 위한 본 발명은, 혈관치료용 마이크로로봇시스템에 있어서, 임의의 자화방향을 가진 자석을 포함하고, 구형 표면에 돌기가 형성된 마이크로로봇부; 및 3차원 임의의 방향으로 상기 마이크로로봇부의 진행방향을 설정하고, 자기장을 생성하여 상기 마이크로로봇부가 자체회전하면서 진행하도록 구동하는 전자기장생성부; 및 엑스레이영상을 촬영하여, 상기 마이크로로봇의 위치를 추적하는 영상부; 를 포함한다.-
公开(公告)号：KR101256409B1
公开(公告)日：2013-05-02
申请号：KR1020110087838
申请日：2011-08-31
Applicant: 전남대학교산학협력단
CPC classification number: A61B1/041 , A61B1/00158
Abstract: 본발명은캡슐형내시경구동제어시스템에관한것으로서, 캡슐형내시경의틸팅및 회전뿐만아니라평행이동및 병진운동을제어함으로써, 식도, 소장, 대장등의관 형태를가지는소화기관뿐만아니라, 위같은넓은형태의장기벽면을정확하게진단하고, 원하는위치에서정밀검사를수행할수 있는캡슐형내시경구동제어시스템을제공함에목적이있다. 이러한목적을달성하기위한본 발명은, 캡슐형내시경으로부터전송되는영상을수신하는수신부; 인가되는전류를이용하여상기캡슐형내시경의구동을위한자기장을발생시키는코일부; 상기코일부에전원을공급하는전원공급부; 및상기수신부를통해수신된영상을바탕으로병변또는캡슐형내시경의위치를파악하고, 이를바탕으로상기코일부로의인가전류및 자세와위치를제어하기위한모터를제어하는구동제어부; 를포함한다.
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公开(公告)号：KR101259584B1
公开(公告)日：2013-04-30
申请号：KR1020100138783
申请日：2010-12-30
Applicant: 전남대학교산학협력단
Abstract: 겔 위에 마이크로구조체를 로딩하는 단계; 상기 마이크로구조체가 로딩된 겔 위에 폴리머 용액을 도포한 후 경화시키는 단계; 경화된 폴리머층을 상기 겔로부터 분리하는 단계; 상기 경화된 폴리머층의 마이크로구조체가 노출된 면에 플라즈마를 공급하거나 차단제를 처리하는 단계; 상기 경화된 폴리머층으로부터 마이크로구조체를 단리하는 단계; 및 상기 단리된 마이크로구조체에 흡착대상 물질을 처리한 후 세척하는 단계를 포함하는 마이크로구조체의 표면 일부에 흡착대상 물질을 선택적으로 부착시키는 방법 및 상기 방법에 의해 제조된 마이크로구조체가 제공된다. 본 발명의 방법에 따르면, 기존의 마이크로구조체의 코팅을 통한 박테리아 부착 방법에서 보이는 전체 면적의 1/2 만을 코팅하여 제작된 마이크로 로봇에 비해 운동성 및 방향성 제어 성능이 향상된 마이크로 로봇 제작에 기여할 수 있다.
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Patent Agency Ranking
公开(公告)号：KR1020130024401A
公开(公告)日：2013-03-08
申请号：KR1020110087838
申请日：2011-08-31
Applicant: 전남대학교산학협력단
CPC classification number: A61B1/041 , A61B1/00158
Abstract: PURPOSE: A capsule type endoscope driving control system is provided to control not only tilting and rolling but also panning and combined moving of a capsule type endoscope, thereby accurately made a diagnosis of the walls of organs as well as of the tube-shaped digestive organs. CONSTITUTION: The receiver(100) receives an image transmitted from a capsule type endoscope. The coil unit(200) uses the current applied to the coil unit to generate the magnetic field for the driving of the capsule type endoscope. A power supply unit(300) supplies power source to the coil unit. A driving control unit(400) identifies a lesion or the position of the capsule type endoscope based on a image received by the receiver. The driving control unit controls a motor to control the applied current to the coil unit and the posture and position of the capsule type endoscope. [Reference numerals] (100) Receiver; (200) Coil unit; (300) Power supply unit; (400) Driving control unit
Abstract translation: 目的：提供一种胶囊型内窥镜驱动控制系统，不仅可以控制胶卷型内窥镜的倾斜滚动，而且还能摇动和组合移动，从而准确地诊断器官壁以及管状消化器官 。 构成：接收器（100）接收从胶囊型内窥镜发送的图像。 线圈单元（200）使用施加到线圈单元的电流来产生用于驱动胶囊型内窥镜的磁场。 电源单元（300）向线圈单元供电。 驾驶控制单元（400）基于由接收器接收的图像来识别胶囊型内窥镜的病变或位置。 驱动控制单元控制马达来控制对线圈单元的施加电流以及胶囊型内窥镜的姿势和位置。 （附图标记）（100）接收器; （200）线圈单元; （300）电源单元; （400）驱动控制单元
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公开(公告)号：KR1020130024236A
公开(公告)日：2013-03-08
申请号：KR1020110087546
申请日：2011-08-31
Applicant: 전남대학교산학협력단
CPC classification number: H01F7/02 , A61B6/12 , A61B34/30 , A61B34/72 , A61B34/73 , A61B2017/00345 , A61B2034/303 , A61B2090/376 , A61N2/002
Abstract: PURPOSE: A micro robot system for blood vessel treatment and a controlling method thereof are provided to facilitate a working area, and to implement a function identical to the function of an existing coil system longitudinally laid. CONSTITUTION: A micro robot system for blood vessel treatment includes a spherical micro robot part(100), and an electromagnetic field generating part(200). The micro robot part includes a magnet having an arbitrary magnetization direction. The electromagnetic field generating part aligns the micro robot part, determines the heading direction of the micro robot part, and generates a magnetic field in a three dimensional arbitrary direction. The electromagnetic field generating part actuates the micro robot part so that the micro robot part can self-rotate or be propelled in the heading direction. The electromagnetic field generating part has a uniform magnetic field generating module and a gradient magnetic field generating module. The uniform magnetic field generating module generates a certain magnetic field so that the micro robot part can be aligned in the three dimensional arbitrary direction, and self-rotate with changing an alignment direction. The gradient magnetic field generating module generates a magnetic field having a certain gradient so that the micro robot part can be propelled in the heading direction.
Abstract translation: 目的：提供一种用于血管治疗的微机器人系统及其控制方法，以便于工作区域，并实现与纵向敷设的现有线圈系统的功能相同的功能。 构成：用于血管治疗的微机器人系统包括球形微机器人部件（100）和电磁场产生部件（200）。 微机械手部件包括具有任意磁化方向的磁体。 电磁场产生部对准微机械手部分，确定微机器人部分的行进方向，并产生三维任意方向的磁场。 电磁场产生部件致动微机械手部件，使得微机械手部件能够在行进方向上自转或被推进。 电磁场产生部具有均匀的磁场产生模块和梯度磁场产生模块。 均匀磁场产生模块产生一定的磁场，使得微机械手部件可以在三维任意方向上对齐，并且随着取向方向的改变而自转。 梯度磁场产生模块产生具有一定梯度的磁场，使得微型机器人部件能够在行进方向上被推进。
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公开(公告)号：KR1020130022258A
公开(公告)日：2013-03-06
申请号：KR1020110085207
申请日：2011-08-25
Applicant: 전남대학교산학협력단
IPC: G01N33/50 , G01N33/574 , G01N33/569 , G01N35/08
Abstract: PURPOSE: An apparatus and a method for analyzing chemotaxis of cells or cell-based micro-robots are provided to enable users to easily culture cancer cells and normal cells. CONSTITUTION: An apparatus for analyzing chemotaxis of cells or cell-based micro-robots comprises a first substrate, a second substrate, and hydrogel(8). The second substrate comprises a chamber(3) for loading the cells or cell-based micro-robots, one or more chambers(4) for loading analytes, and a channel(5). The channel connects the chamber for loading the cells or cell-based micro-robots, and the chamber for loading analytes. The hydrogel is injected into the chamber for loading analytes.
Abstract translation: 目的：提供一种用于分析细胞趋化性或基于细胞的微机器人的装置和方法，使用户能够容易地培养癌细胞和正常细胞。 构成：用于分析细胞或基于细胞的微机器人的趋化性的装置包括第一基底，第二基底和水凝胶（8）。 第二衬底包括用于装载细胞或基于细胞的微机器人的腔室（3），用于装载分析物的一个或多个腔室（4）和通道（5）。 通道连接用于装载细胞或基于细胞的微机器人的室，以及用于加载分析物的室。 将水凝胶注入室中用于加载分析物。
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公开(公告)号：KR101217767B1
公开(公告)日：2013-01-02
申请号：KR1020120074972
申请日：2012-07-10
Applicant: 전남대학교산학협력단
IPC: A61B17/3207 , A61M25/09 , A61M25/10 , A61M1/00
Abstract: 본발명은카테터기반을가지는의료시술용전자기구동수술장치및 방법에관한것으로, 전자기구동회전자계와카테터기반의마이크로드릴툴이신체의협착혈관을정확하고안전하게진입하며전자기구동시스템에의해방향전환과연장진입이용이하게이동할수 있으면서협착혈관내에서풍선부의팽창과수축을안전하게조절하고, 드릴툴에의한협착물제거와흡입부에의한입자조각을흡입하여외부로배출할수 있는카테터기반을가지는의료시술용전자기구동수술장치및 방법에관한것이다. 이를위한본 발명의카테터기반을가지는의료시술용전자기구동수술장치및 방법은, 혈관내로삽입되는가이드와이어와; 상기가이드와이어를따라삽입될수 있는내부에소정의이동로을형성하여길이방향으로길게형성되면서전방에각각흡입부와풍선을형성한카테터와; 상기카테터의이동로를통해진입하여전방으로돌출되며, 인가되는전류량에따라방향제어와회전력및 추진력을통한드릴링이가능한드릴툴과; x, y, z축공간을중심으로하여설치되는균일자기장코일시스템으로자기장형성코일의자계방향의조정에따라드릴툴을 3차원공간상의원하는방향으로정렬시키는전자기장부; 로이루어진구조이다.
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公开(公告)号：KR1020120113522A
公开(公告)日：2012-10-15
申请号：KR1020110031270
申请日：2011-04-05
Applicant: 전남대학교산학협력단
IPC: A61B19/00 , A61B6/02 , A61B1/04 , A61B17/3201
CPC classification number: A61B6/12 , A61B6/037 , A61B6/466 , A61B6/481 , A61B6/504 , A61B34/10 , A61B34/30 , A61B34/70 , A61B34/72 , A61B34/73 , A61B2090/376
Abstract: PURPOSE: A micro robot system for brain and spinal cord diseases is provided to control various operations of a micro robot by including an electromagnetic coil system. CONSTITUTION: A micro robot driving module(100) controls and implements various operations of a micro robot and includes a power supply unit and a power control system. A brain and spinal cord image module(200) images a spinal canal and a cerebral ventricle. A diagnosis module(300) diagnoses brain and spinal cord diseases by using images obtained from the brain and spinal cord image module. A navigation module(400) designs a moving path of a micro robot by using images from the brain and spinal cord image module.
Abstract translation: 目的：提供用于脑和脊髓疾病的微机器人系统，以通过包括电磁线圈系统来控制微机器人的各种操作。 构成：微型机器人驱动模块（100）控制和实现微机器人的各种操作，并且包括电源单元和功率控制系统。 脑和脊髓图像模块（200）对脊柱和脑室进行成像。 诊断模块（300）通过使用从脑和脊髓图像模块获得的图像来诊断脑和脊髓疾病。 导航模块（400）通过使用来自脑和脊髓图像模块的图像来设计微机器人的移动路径。
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