公开(公告)号：KR100482275B1

公开(公告)日：2005-04-13

申请号：KR1020020047097

申请日：2002-08-09

Applicant: 한국과학기술연구원

Inventor： 김병규 ,  이승학 ,  류재욱 ,  탁영훈 ,  김태송 ,  박종오

IPC: A61B1/04

CPC classification number: A61B1/041 ,  A61B1/00016 ,  A61B1/00156 ,  A61B5/073 ,  A61B5/6886

Abstract: 본 발명은 마이크로 캡슐형 로봇에 관한 것으로서, 보다 상세하게는 마이크로 캡슐형 로봇의 장기 등의 내부에서 이동 또는 이동 지연에 관한 것으로, 몸체부와, 선형구동장치와, 상기 선형구동장치의 구동에 의하여 상기 몸체부의 외주면으로부터 펼쳐져 장기의 내벽과 접촉하여 몸체부의 이동을 지연 또는 정지시키기 위한 날개로 구성되어 상기 몸체부의 외주면에 설치된 몸체이동지연부와, 상기 몸체부 내에 설치되어 상기 몸체이동지연부를 제어하기 위한 제어부를 포함하는 것을 특징으로 하는 마이크로 캡슐형 로봇을 제공한다.

公开(公告)号：KR100475098B1

公开(公告)日：2005-03-11

申请号：KR1020020070114

申请日：2002-11-12

Applicant: 한국과학기술연구원

Inventor： 김병규 ,  박정렬 ,  김덕호 ,  박종오

IPC: C12M1/00

CPC classification number: C12M47/04

Abstract: 본 발명은 단일 셀 조작을 위한 일괄적이고 자동화된 바이오 조작 장치에 관한 것으로, 특히 다수의 셀로부터 조작 대상인 단일 셀을 이송 및 분리하여 추출하고 조작시 해당 추출된 하나의 셀 회전위치를 제어하며 비전부와 햅틱부를 사용하여 생체 모방형 스마트 마이크로 피펫으로 해당 셀의 정확한 위치에 정밀한 조작을 할 수 있도록 한 단일 셀 조작을 위한 바이오 자동 조작 장치에 관한 것이다.
본 발명은 모세 전기영동과 전도성 고분자를 사용해 다수의 셀로부터 조작 대상인 셀 하나를 이송 및 분리하여 추출하고 이중 전기영동과 비전부의 회전위치 피드백 정보를 사용해 셀의 회전위치를 자동적으로 제어할 수 있으며 온도 제어기를 사용해 셀 조작시에도 생존율을 높일 수 있는 초미세 생체 장치와, 상기 추출된 하나의 조작 대상 셀 및 작업 도구에 대하여 비전부와 햅틱부를 사용해 시각 정보와 조작 정보를 획득하여 사용자에게 제공하고 사용자의 조작 명령을 전달해 해당 하나의 조작 대상 셀 및 작업 도구의 조작을 자동화하는 마이크로 매니퓰레이션 장치를 포함하여 이루어지고, 종래의 수동적이고 개별화된 단일 셀 조작을 초미세 생체 장치와 마이크로 매니퓰레이션 장치를 유기적으로 조합하여 일괄적인 자동화가 가능하게 할 수 � ��다.

公开(公告)号：KR1020040110567A

公开(公告)日：2004-12-31

申请号：KR1020030039920

申请日：2003-06-19

Applicant: 한국과학기술연구원

Inventor： 김병규 ,  정연구 ,  이영표 ,  임헌영 ,  권지운 ,  이기우 ,  박종오

IPC: A61B1/00

Abstract: PURPOSE: A tool system is provided to install a tool for diagnosis and/or treatment in organs of human body in a simple way. CONSTITUTION: A tool system comprises a main body(100) where tools for diagnosis and/or treatment are mounted, and has a fixing portion accommodation portion; a guide pipe coupled to the main body; a fixing portion lead-out line inserted into the guide pipe; and a fixing portion fixed at an end of the fixing portion lead-out line, and accommodated in the fixing portion accommodation portion of the main body. The fixing portion is drawn by the lead-out line, such that a certain part of the fixing portion inserted into the guide pipe. When the fixing portion is partially inserted into the guide pipe by the drawing of the lead-out line, the fixing portion fixes the main body by picking a part of an object(1) at which the main body is to be fixed.

Abstract translation: 目的：提供一种工具系统，以简单的方式安装用于人体器官诊断和/或治疗的工具。 构成：工具系统包括安装用于诊断和/或治疗的工具的主体（100），并且具有固定部容纳部分; 连接到主体的导管; 插入导管中的固定部引出线; 以及固定部，固定在固定部引出线的端部，并且容纳在主体的固定部容纳部中。 固定部分由引出线拉出，使得固定部分的一部分插入导管中。 当通过引出线的拉出将固定部分部分地插入引导管中时，固定部分通过拾取要固定主体的物体（1）的一部分来固定主体。

公开(公告)号：KR1020040104815A

公开(公告)日：2004-12-13

申请号：KR1020030036060

申请日：2003-06-04

Applicant: 한국과학기술연구원

Inventor： 김병규 ,  김영호 ,  김덕호 ,  박종오

IPC: C12M1/00

CPC classification number: C12M33/04 ,  B01L3/021

Abstract: PURPOSE: A smart pipette system and a method for manipulating an individual bio-cell by using the same are provided, thereby rapidly and accurately recognizing the penetration position, automatically carrying out the cell manipulation by changing an orientation of a cell, and minimizing physical damage of the cell to be manipulated. CONSTITUTION: The smart pipette system for manipulating individual bio-cell comprises a capillary holder(41), a tip holder(42), a membrane plane(43), a PVDF sensor(44), and a pipette(45), wherein the tip contains a polymer coated orientation regulation portion(46); the orientation regulation portion(46) changes the orientation of a cell prior to the cell injection so as to rapidly and accurately recognize the penetration position; and the PVDF sensor(44) detects force of a user and transfers the signal of the detected force to a user to minimize physical damage of the cell to be manipulated.

Abstract translation: 目的：提供智能移液管系统和通过使用其来操纵单个生物细胞的方法，从而快速准确地识别穿透位置，通过改变细胞的取向自动进行细胞操作，并最小化物理损伤 的细胞被操纵。 构成：用于操纵单个生物细胞的智能移液管系统包括毛细管支架（41），尖端保持器（42），膜平面（43），PVDF传感器（44）和移液管（45），其中 尖端包含聚合物涂覆的取向调节部分（46）; 定向调节部分（46）在单元注入之前改变单元的取向，以便快速且准确地识别穿透位置; 并且PVDF传感器（44）检测使用者的力并将检测到的力的信号传送给使用者以最小化要被操纵的细胞的物理损伤。

公开(公告)号：KR1020040068425A

公开(公告)日：2004-07-31

申请号：KR1020030005059

申请日：2003-01-25

Applicant: 한국과학기술연구원

Inventor： 김태송 ,  박종오 ,  김병규 ,  김진석 ,  정한 ,  조원우 ,  윤난영 ,  김영록

IPC: H04B13/00

CPC classification number: A61B1/041 ,  A61B5/0028 ,  A61B5/0031 ,  H04B13/005

Abstract: PURPOSE: A human body communication system, a method therefor and a sensing device used in the system are provided to transmit data to the external of a human body by generating an electric current at the inside of the human body so that the current can flow through the human body. CONSTITUTION: Various information, collected at a sensing device(10), is converted into an electrical signal through a signal processing circuit in the sensing device. As the electrical signal is supplied to two transmitting electrodes(11) through the output line of the signal processing circuit, a potential difference is generated between the two transmitting electrodes(11). At this moment, a human body(2) gets live with an electrical current(3) by the potential difference because the transmitting electrodes(11) is contacted with the inside(1) of the human body(2). The electrical current(3) flows from a higher-potential transmitting electrode to the surface of the human body(2), goes into the inside(1) of the human body(2), then sinks to the other lower-potential transmitting electrode. At this moment, as the current that flows on the surface of the human body(2) causes voltage between two receiving electrodes(21), a signal transmitted from the sensing device(10) can be sensed at a receiver(20) installed at the external of the human body(2).

Abstract translation: 目的：提供一种人体通信系统及其方法和系统中使用的感测装置，通过在人体内部产生电流将数据发送到人体的外部，使得电流可以流过 人类的身体。 构成：在感测装置（10）处收集的各种信息通过感测装置中的信号处理电路转换成电信号。 当通过信号处理电路的输出线将电信号提供给两个发射电极（11）时，在两个发射电极（11）之间产生电位差。 此时，由于发射电极（11）与人体（2）的内部（1）接触，所以人体（2）由于电位差而导致电流（3）。 电流（3）从较高电位的发射电极流到人体（2）的表面，进入人体（2）的内部（1），然后沉入另一个下电位传输电极 。 此时，由于流过人体（2）表面的电流使两个接收电极（21）之间产生电压，所以可以在安装在接收器（20）的接收器（20）处感测从感测装置（10）发送的信号 人体外部（2）。

公开(公告)号：KR100426613B1

公开(公告)日：2004-04-08

申请号：KR1020010027496

申请日：2001-05-19

Applicant: 한국과학기술연구원

Inventor： 김병규 ,  김경대 ,  이승학 ,  홍예선 ,  김수현 ,  박종오

IPC: B25J7/00

CPC classification number: A61B1/00156 ,  A61B1/04 ,  A61B1/31 ,  A61B34/30 ,  A61B34/70 ,  A61B34/72 ,  A61B2034/303

Abstract: A micro robot driving system for endoscope can move a micro robot forward, backward or changing the direction by transmitting rotation force generated by a driving means to a worm gear or a gear tooth shaped belt by a worm. The micro robot driving system in accordance with the present invention includes a micro robot body, rotational force transmitting means installed in the body, for transmitting rotational force generated by driving means and movement means which is connected with the rotational force transmitting means, protruded from the body, for moving the body by rotational force transmitted by the rotational force transmitting means.

Abstract translation: 用于内窥镜的微型机器人驱动系统能够通过由蜗杆将由驱动装置产生的旋转力传递到蜗轮或齿轮齿形带而使微型机器人向前，向后或改变方向。 根据本发明的微型机器人驱动系统包括微型机器人主体，安装在主体中用于传递由驱动装置产生的旋转力的旋转力传递装置，以及与旋转力传递装置连接的移动装置， 用于通过由旋转力传递装置传递的旋转力来移动主体。

公开(公告)号：KR1020030039221A

公开(公告)日：2003-05-17

申请号：KR1020010070191

申请日：2001-11-12

Applicant: 한국과학기술연구원

Inventor： 김병규 ,  정연구 ,  김태송 ,  박종오 ,  송시영

IPC: A61B1/04

CPC classification number: A61B1/041 ,  A61B1/00016 ,  A61B1/0008 ,  A61B1/00094 ,  A61B1/00156 ,  A61B1/0607 ,  A61B1/31 ,  A61B5/073 ,  A61B5/6886

Abstract: PURPOSE: A microcapsule-type robot is provided to improve the decision rate about lesion by fixing the robot within an organ of the human body in responding to a stop control signal from an outside of a human body. CONSTITUTION: A camera device(11) is mounted on a body to observe an organ of the human body. A lighting device(12) is mounted on the body to irradiate a light to the organ so that the camera device(11) photographs an inside of the organ. A receiving/sending device(16) is mounted on the body to transmit image information obtained by the camera device(11) to an outside of the human body and receives a control signal from the outside of the human body. A stop unit is mounted on the body to stop the body at a certain position of the organ. A control device(13) is mounted on the body to control operations of the camera device(11), the lighting device(12), the receiving/sending device(16), and the stop unit. A power supply device(14) is mounted on the body to supply power to the camera device(11), the lighting device(12), the receiving/sending device(16), the stop unit, and the control device(13).

Abstract translation: 目的：提供微胶囊型机器人，以响应来自人体外部的停止控制信号，将机器人固定在人体器官内，从而提高病变的判定率。 构成：相机装置（11）安装在身体上以观察人体器官。 照明装置（12）安装在身体上以将光照射到器官，使得照相机装置（11）照射器官内部。 接收/发送装置（16）安装在身体上以将由照相机装置（11）获得的图像信息传送到人体的外部，并从人体的外部接收控制信号。 一个停止单元安装在身体上，以将身体停在器官的某一位置。 控制装置（13）安装在主体上以控制相机装置（11），照明装置（12），接收/发送装置（16）和停止装置的操作。 电源装置（14）安装在主体上以向照相机装置（11），照明装置（12），接收/发送装置（16），停止装置和控制装置（13）供电， 。

公开(公告)号：KR1020020094528A

公开(公告)日：2002-12-18

申请号：KR1020010032798

申请日：2001-06-12

Applicant: 한국과학기술연구원

Inventor： 김병규 ,  김경대 ,  임헌영 ,  박종오

IPC: A61B1/00

Abstract: PURPOSE: A micro robot is provided to achieve a simple and efficiency structure, while allowing ease of manufacture and cost and size reduction. CONSTITUTION: A micro robot comprises a main body; a motor(2) serving as a driving member and which is mounted within the main body; a worm(1) serving as a rotating force transfer unit, and which is mounted within the main body and transfers the force generated from the motor; a motion converting unit mounted to the main body, and which operates by the force transferred from the rotating force transfer unit, and has an eccentric shaft(17); and a plurality of legs(10) each of which has an end(10a) connected to the eccentric shaft of the motion converting unit and the other end(10b) performing elliptic motion by a guide member. The motion converting unit includes a disk(9) where the eccentric shaft is attached; gears(5,6) engaged with the worm, and which rotate the disk; and a plurality of gear boxes disposed along the circumference of the main body so as to fix the disk and gears to be rotatable.

Abstract translation: 目的：提供微型机器人，以实现简单而高效的结构，同时可以方便生产，降低成本和减小尺寸。 构成：微型机器人包括主体; 用作驱动构件并安装在主体内的马达（2）; 用作旋转力传递单元的蜗杆（1），并且安装在主体内并传递从马达产生的力; 运动转换单元，其安装在主体上，并且通过从旋转力传递单元传递的力进行操作，并具有偏心轴（17）; 以及多个腿部（10），每个腿部具有连接到运动转换单元的偏心轴的端部（10a），另一端（10b）由引导构件执行椭圆形运动。 运动转换单元包括安装偏心轴的盘（9）; 齿轮（5,6）与蜗杆接合，并使盘旋转; 以及沿着主体的圆周布置的多个齿轮箱，以便将盘和齿轮固定成可转动。

公开(公告)号：KR1020020066453A

公开(公告)日：2002-08-17

申请号：KR1020010006630

申请日：2001-02-10

Applicant: 한국과학기술연구원

Inventor： 김병규 ,  임영모 ,  이진희 ,  박지상 ,  김수현 ,  박종오

IPC: A61B1/04

CPC classification number: A61B1/041 ,  A61B1/00156

Abstract: PURPOSE: A micro robot is provided to relieve pain from patient and allow examination of larger intestine to be easily performed by permitting micro robot equipped with a photographing and illuminating device to automatically move in the larger intestine of patient through the use of external air pressure. CONSTITUTION: A micro robot comprises an intestine photographing robot(100) including a camera device(2) equipped with a light emitting diode(3) so as to photograph an interior of a large intestine(1), a cylinder having an impact element(5) for moving the micro robot, an impact buffering device(4) for protecting the camera device and other equipment from the impact generated from the impact element, a plurality of body supports(6) for regulating friction between the large intestine and the micro robot, and a linear driver(7) for controlling direction by independently controlling the body supports; and an air pressure feed unit for determining forward or rearward movement of the micro robot by moving the impact element through suction or charging of air pressure into the cylinder of the intestine photographing robot.

Abstract translation: 目的：提供微型机器人，以减轻患者的疼痛，并允许通过允许具有拍摄和照明装置的微型机器人通过使用外部空气压力自动移动到患者的较大肠中来容易地进行较大肠的检查。 构成：微型机器人包括肠内摄影机器人（100），其包括配备有发光二极管（3）的相机装置（2），以便拍摄大肠（1）的内部，具有冲击元件 5），用于移动微机器人;冲击缓冲装置（4），用于保护相机装置和其他设备免受冲击元件产生的冲击;多个主体支撑件（6），用于调节大肠和微型机器之间的摩擦 机器人和用于通过独立地控制身体支撑来控制方向的线性驱动器（7） 以及空气压力进给单元，用于通过将冲击元件通过吸入或充入空气压力进入肠内摄影机器人的气缸来确定微机器人的向前或向后运动。