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

Inventor： 박석호 ,  박종오 ,  최현철 ,  차경래 ,  정세미

IPC: A61N2/02 ,  A61N2/10 ,  A61B18/00 ,  A61B19/00

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。

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

Inventor： 박석호 ,  박종오 ,  차경래 ,  정세미 ,  최종호 ,  강수지

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.

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

Inventor： 박석호 ,  박종오 ,  차경래

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。

公开(公告)号：KR1020110127339A

公开(公告)日：2011-11-25

申请号：KR1020100046762

申请日：2010-05-19

Applicant: 전남대학교산학협력단

Inventor： 박석호 ,  박종오 ,  차경래 ,  정세미 ,  최종호 ,  강수지

IPC: A61B17/22 ,  A61M25/10 ,  A61M29/02 ,  A61B17/3205

Abstract: PURPOSE: A catheter based electromagnetic actuating surgical device and a method thereof are provided to push a drill tool in a desired direction through external magnetic fields based on a catheter, thereby effectively drilling a blocked part of a vessel. CONSTITUTION: A micro drill tool(160) based on an electromagnetic actuating rotating field and a catheter accurately and safely enters an angiostenosis. An electromagnetic actuating system safely controls expansion and contraction of a balloon unit in the angiostenosis. The drill tool eliminates the angiostenosis. A suction unit suctions a particle piece. A catheter based electromagnetic actuating surgical device includes a guide wire, a catheter(150), the drill tool, and an electromagnetic field part(170). The guide wire is inserted into a blood vessel.

Abstract translation: 目的：提供一种基于导管的电磁致动外科手术装置及其方法，以便通过基于导管的外部磁场沿期望的方向推动钻具，从而有效地钻出容器的封闭部分。 构成：基于电磁致动旋转场和导管的微型钻具（160）精确安全地进入血管狭窄。 电磁致动系统安全地控制血管狭窄症中气囊单元的膨胀和收缩。 钻具消除了血管狭窄。 抽吸单元吸取颗粒物。 基于导管的电磁致动手术装置包括导线，导管（150），钻具和电磁场部分（170）。 导丝插入血管。