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公开(公告)号：KR101045377B1
公开(公告)日：2011-06-30
申请号：KR1020080073757
申请日：2008-07-28
Applicant: 전남대학교산학협력단
Abstract: 본 발명에 따른 초소형 로봇은 소정의 길이를 가지는 본체와, 상기 본체의 외주면에 설치되는 것으로 탄성변형에 의해 굴신 가능하며 후방 측으로 경사진 복수개의 이송다리들과, 상기 본체의 내부에 설치되는 자성체 또는 제 1자력 발생수단과, 상기 본체와 인접되는 측에 설치되며 세관에 삽입된 본체에 견인력과 반발력을 작용시켜 상기 본체를 세관의 벽측으로 교번 이동시킴으로써 상기 이송다리를 굴신시키는 제 2자력 발생수단을 포함한다.
로봇, 초소형, 혈관, 세관, 이송다리,굴신,-
公开(公告)号：KR1020110033573A
公开(公告)日：2011-03-31
申请号：KR1020090091121
申请日：2009-09-25
Applicant: 전남대학교산학협력단
Abstract: PURPOSE: A drilling microrobot system using a rotating field having precession is provided to simultaneously implement control of the direction and three-dimensional location of a microrobot and drilling work through the axial rotation of the microrobot. CONSTITUTION: A drilling microrobot system using a rotating field having precession comprises First to third pairs of Helmholtz coils and a screw-shaped microrobot(110). The Helmholtz coil pairs are respectively fixed around x-, y-, and z-axes. The microrobot is located in the space of a three-dimensional electromagnetic driver, including the x-, y-, and z-axes and moves to the desired direction using the Helmholtz coil pairs. When the microrobot meets a blocked part, current for combined rotational and precession motion is input to the microrobot and the microrobot implements drilling work.
Abstract translation: 目的：提供一种使用具有进动的旋转场的钻孔微型机器人系统，以通过微型机器人的轴向旋转来同时实现微型机身的方向和三维位置以及钻孔作业的控制。 构成：使用具有进动的旋转场的钻孔微型机器人系统包括第一至第三对亥姆霍兹线圈和螺旋形微型机身（110）。 亥姆霍兹线圈对分别固定在x轴，y轴和z轴上。 微型机架位于三维电磁驱动器的空间中，包括x轴，y轴和z轴，并使用亥姆霍兹线圈对移动到所需方向。 当微型机架遇到阻挡部件时，组合的旋转和进动运动的电流被输入到微型机器人，并且微型机架执行钻孔作业。
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公开(公告)号：KR101001291B1
公开(公告)日：2010-12-14
申请号：KR1020080035236
申请日：2008-04-16
Applicant: 전남대학교산학협력단
IPC: B25J19/00
Abstract: 본 발명은 3차원 전자기구동 마이크로로봇 구동모듈 및 시스템에 관한 것으로, 전자기구동 마이크로로봇 회전축을 Roll-Pitch-Yaw 또는 Roll-Pitch-Roll 구조로 확장한 3차원 구동모듈과 상기 구동모듈을 기반으로 구현되는 마이크로로봇을 3차원 공간에서 원하는 방향과 변위만큼 이동할 수 있도록 이루어진 시스템에 관한 것이다.
마이크로로봇, 전자기구동, 평면구동, 구동모듈, 3차원 구동, 의료로봇-
公开(公告)号：KR1020100046321A
公开(公告)日：2010-05-07
申请号：KR1020080105108
申请日：2008-10-27
Applicant: 전남대학교산학협력단
Abstract: PURPOSE: A coil system structure for control of a micro robot and a two-dimensional plane electromagnetic drive system using the same are provided to omit the turning space of a coil system by controlling the displacement of a micro robot through control of current supplied to the helmholtz coil and the maxwell coil. CONSTITUTION: A coil systems structure comprises X- and Y-axis coil systems(201,203) which are arranged opposite each other. The Y-axis coil system is installed perpendicular to the X-axis coil system. One of helmholtz coils(205,209) and maxwell coils(207,211) is installed in the X-axis coil system. One of helmholtz coils(215,219) and maxwell coils(213,217) is installed in the Y-axis coil system.
Abstract translation: 目的：提供一种用于控制微机器人的线圈系统结构和使用其的二维平面电磁驱动系统，以通过控制微机器人的位移来控制线圈系统的转动空间，从而控制提供给 亥姆霍兹线圈和麦克斯韦线圈。 构成：线圈系统结构包括彼此相对布置的X轴线圈和Y轴线圈系统（201,203）。 Y轴线圈系统垂直于X轴线圈系统安装。 亥姆霍兹线圈（205,209）和麦克斯韦线圈（207,211）中的一个安装在X轴线圈系统中。 亥姆霍兹线圈（215,219）和麦克斯韦线圈（213,217）中的一个安装在Y轴线圈系统中。
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公开(公告)号：KR1020090109818A
公开(公告)日：2009-10-21
申请号：KR1020080035236
申请日：2008-04-16
Applicant: 전남대학교산학협력단
IPC: B25J19/00
Abstract: PURPOSE: A micro robot driving module and micro robot system actuated by electromagnetic manipulation are provided to have a medical function and to apply for a medical filed. CONSTITUTION: A micro robot driving module comprises followings. A first drive member(120) rotates around a first rotary shaft vertically standing on a base plate. A second driver member(130) is located in the first drive member and rotates around a second rotary shaft. A third drive member(140) is located in the second driver member and rotates around the second rotary shaft. A coil systems(150) is located in the third drive member and has a coil in a driving shaft meeting a third rotary shaft at a right angle. A micro robot is positioned between the coils of the coil system.
Abstract translation: 目的：提供通过电磁操作驱动的微机械手驱动模块和微机器人系统，以具有医疗功能并申请医疗。 构成：微机械手驱动模块如下。 第一驱动构件（120）围绕垂直站立在基板上的第一旋转轴旋转。 第二驱动构件（130）位于第一驱动构件中并围绕第二旋转轴旋转。 第三驱动构件（140）位于第二驱动构件中并围绕第二旋转轴旋转。 线圈系统（150）位于第三驱动构件中，并且在与第三旋转轴成直角的驱动轴中具有线圈。 微型机器人位于线圈系统的线圈之间。
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Patent Agency Ranking
公开(公告)号：KR102239107B1
公开(公告)日：2021-04-13
申请号：KR1020190019448
申请日：2019-02-19
Applicant: 전남대학교산학협력단 , 재단법인 한국마이크로의료로봇연구원
Abstract: 본발명은피검자의소화기관내에서조립또는분해가가능한캡슐형내시경조립체와이를이용한캡슐형내시경시스템에관한것이다. 본발명의캡슐형내시경은외부자기장인가에의한캡슐내시경의능동적조작이가능하다. 또한, 본발명에따르면, 진단및 치료목적에따라모듈화된 다양한진단및 치료디바이스를피검자가각각삼킨후, 피검자의소화기관내에서조립이가능하다. 따라서캡슐형내시경의기능을종래의일반내시경과같이다양한진단및 치료영역으로확장할수 있다.
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