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公开(公告)号：KR101247165B1
公开(公告)日：2013-03-25
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: 본 발명은 뇌·척수 질환 치료용 마이크로로봇에 관한 것으로서, 전자기 코일 시스템을 구비하여 전자기력을 발생시켜 마이크로로봇의 다양한 운동을 구현 및 제어하는 마이크로로봇 구동모듈; 뇌척수액으로 채워져 있는 척수강과 뇌실부분을 영상화하고, 상기 마이크로로봇의 영상화할 수 있는 뇌/척수 영상모듈; 상기 뇌/척수 영상모듈에서 획득된 수술 전 영상을 통해 뇌·척수 질환을 진단할 수 있는 진단모듈; 및 상기 뇌/척수 영상모듈에서 획득된 수술 전 영상을 통해 상기 마이크로로봇의 이동경로를 설계하고, 상기 뇌/척수 영상모듈에서 획득된 수술 중 영상을 통해 상기 마이크로로봇의 움직임을 모니터링 할 수 있는 내비게이션모듈을 포함하는 뇌·척수 질환 치료용 마이크로로봇 구동 시스템을 제공한다.
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公开(公告)号：KR1020130022547A
公开(公告)日：2013-03-07
申请号：KR1020110085161
申请日：2011-08-25
Applicant: 전남대학교산학협력단
CPC classification number: A61B19/22 , A61B1/00158 , A61B1/041 , A61B34/70 , A61B2034/731
Abstract: PURPOSE: A microrobot system and a capsule type endoscope system for the inspection of tubular digestive organs are provided to accurately inspect diseases existing on the wall surfaces of tubular digestive organs by installing a camera on the cylindrical wall surface of the microrobot. CONSTITUTION: A capsule type endoscope unit(100') comprises a magnet module(110') having a specific magnetization direction. The capsule type endoscope unit comprises a microrobot unit which progresses with the rotation along the wall surface by the precession rotating magnetic field. An electromagnetic field generating unit(200) set up the alignment direction of the microrobot unit to have a magnetization direction with a certain angle. The electromagnetic field generating unit generates the magnetic field in the alignment direction and operates the microrobot unit. The electromagnetic field generating unit includes a uniform magnetic field generation module(210) and a gradient magnetic field generation module(220). An imaging unit(300) receives and displays the images taken by the capsule type endoscope unit and the position of the capsule type endoscope unit. The imaging unit includes a data receiver module(310) and a display module(320). [Reference numerals] (100') Capsule type endoscope unit; (110') Magnet module; (120') Camera module; (130') Data transmission module; (140') Lighting module; (200) Electromagnetic field generating unit; (210) Uniform magnetic field generation module; (211) Helmholtz coil unit; (212) Fixed uniform saddle coil unit; (220) Gradient magnetic field generation module; (221) Maxwell coil unit; (222) Rotary gradient saddle coil unit; (300) Imaging unit; (310) Data receiver module; (320) Display module
Abstract translation: 目的：提供一种用于管状消化器官检查的微型机器人系统和胶囊型内窥镜系统，通过在微型机器人的圆柱形壁面上安装摄像机来准确检测管状消化器官壁面上存在的疾病。 构成：胶囊型内窥镜单元（100'）包括具有特定磁化方向的磁体模块（110'）。 胶囊型内窥镜单元包括随着进动旋转磁场沿着壁面的旋转而前进的微型机身单元。 电磁场产生单元（200）将微型机器人单元的校准方向设置成具有一定角度的磁化方向。 电磁场产生单元沿对准方向产生磁场并操作微型机器人单元。 电磁场产生单元包括均匀的磁场产生模块（210）和梯度磁场产生模块（220）。 成像单元（300）接收并显示由胶囊型内窥镜单元拍摄的图像和胶囊型内窥镜单元的位置。 成像单元包括数据接收器模块（310）和显示模块（320）。 （100'）胶囊型内窥镜单元; （110'）磁铁模块; （120'）相机模组; （130'）数据传输模块; （140'）照明模块; （200）电磁场发生单元; （210）均匀磁场发生模块; （211）亥姆霍兹线圈单元; （212）固定均匀鞍形线圈单元; （220）梯度磁场发生模块; （221）麦克斯韦线圈单元; （222）旋转坡度鞍形线圈单元; （300）成像单元; （310）数据接收模块; （320）显示模块
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公开(公告)号：KR101198917B1
公开(公告)日：2012-11-07
申请号：KR1020110087839
申请日：2011-08-31
Applicant: 전남대학교산학협력단
CPC classification number: A61B6/032 , A61B6/035 , A61B6/12 , A61B6/4014 , A61B34/72 , A61B2090/376
Abstract: PURPOSE: A system and method for controlling a micro robot using a dual source X-ray CT device is provided to precisely control the location of the micro robot by using the coordinate and vector information of the micro robot as a feedback signal. CONSTITUTION: A CT scanning unit(110) uses a dual source X-ray included in a body(100). A coil unit(120) generates a driving signal for driving a micro robot. A driving unit(130) rotates the coil unit and the CT scanning unit in the body. A control unit controls the location of the micro robot by controlling the coil unit or driving unit and includes an image information processing module, a matching module, and a control module.
Abstract translation: 目的：提供一种使用双源X射线CT装置控制微机器人的系统和方法，通过使用微机器人的坐标和矢量信息作为反馈信号来精确地控制微机器人的位置。 构成：CT扫描单元（110）使用包括在体（100）中的双源X射线。 线圈单元（120）产生用于驱动微机器人的驱动信号。 驱动单元（130）使线圈单元和CT扫描单元在体内旋转。 控制单元通过控制线圈单元或驱动单元来控制微机器人的位置，并且包括图像信息处理模块，匹配模块和控制模块。
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公开(公告)号：KR1020120092355A
公开(公告)日：2012-08-21
申请号：KR1020110012356
申请日：2011-02-11
Applicant: 전남대학교산학협력단
IPC: A61B5/11
CPC classification number: A61B5/1126 , A61B34/20 , A61B34/30
Abstract: PURPOSE: A bone motion monitoring and path regenerating system using a three-dimensional optical tracker is provided to improve the reliability and quality of a robot surgery by automatically correcting the operating path of a robot. CONSTITUTION: An optical target unit(100) is attached to bone and detects a movement. An optical measuring unit(200) measures the movement of the optical target unit and extracts the amount of change. A movement sensing unit(300) senses the movement of the bone according to the inputted change amount extracted by the optical measuring unit and corrects the path of a surgical robot(400). The surgical robot implements cutting along a predetermined path or the path corrected by the movement sensing unit.
Abstract translation: 目的：通过自动校正机器人的操作路径，提供使用三维光学跟踪器的骨骼运动监测和路径再生系统，以提高机器人手术的可靠性和质量。 构成：将光学靶单元（100）附接到骨骼并检测运动。 光学测量单元（200）测量光学目标单元的移动并提取变化量。 运动感测单元（300）根据由光学测量单元提取的输入的变化量来检测骨的移动，并校正手术机器人（400）的路径。 外科手术机器人沿着预定路径或由移动感测单元校正的路径进行切割。
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公开(公告)号：KR101083345B1
公开(公告)日：2011-11-15
申请号：KR1020080048572
申请日：2008-05-26
Applicant: 전남대학교산학협력단
IPC: A61M25/00 , A61M31/00 , A61M25/095 , A61M11/00
CPC classification number: A61B6/03 , A61B6/12 , A61B17/320758 , A61B2017/00345 , A61B2017/00411 , A61B2034/303
Abstract: 본발명의일 실시예에따른마이크로로봇시스템은피검체의혈관내부를이동하며혈관질환을치료하는마이크로로봇, 피검체의외부에서상기마이크로로봇에구동력을전달하는구동장치및 상기마이크로로봇의위치정보를수신하여상기구동장치를제어하거나상기마이크로로봇으로제어신호를전송하는시스템제어장치를포함하여이루어진다.
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Patent Agency Ranking
公开(公告)号：KR100997759B1
公开(公告)日：2010-12-01
申请号：KR1020080136167
申请日：2008-12-30
Applicant: 전남대학교산학협력단
Abstract: 본 발명은 영상 유도 원격 수술 로봇 시스템에 관한 것으로서, 의사가 직접 조종할 수 있는 햅틱 마스터 및 증강현실 기법에 의한 가상 영상을 의사에게 보여주는 영상 표시부를 포함하는 오퍼레이팅 장치; 환자에게 직접 시술하는 장치로서, 하기의 제어 장치의 마스터 제어부에 의해 조종되는 내시경 기반의 슬레이브 매니퓰레이터를 포함하는 시술 장치; 수술 전의 의료 영상을 3차원 영상으로 변환하여 수술 중 내시경 영상에 투영시킴으로써, 가상 영상을 생성하는 영상처리 장치; 상기 오퍼레이팅 장치의 햅틱 마스터의 조종을 제어하는 마스터 제어부, 및 상기 햅틱 마스터의 위치명령을 상기 슬레이브 매니퓰레이터가 잘 추종할 수 있도록 하기 위한 제어입력을 발생시키고, 슬레이브 매니퓰레이터의 제어에 필요한 각종 제어입력을 발생시키는 슬레이브 제어부를 포함하는 제어 장치; 및 상기 영상처리 장치 및 제어 장치 간 정보를 송수신 하기 위한 통신 장치; 를 포함한다.
원격 수술, 영상 유도, 햅틱-
公开(公告)号：KR1020100078034A
公开(公告)日：2010-07-08
申请号：KR1020080136167
申请日：2008-12-30
Applicant: 전남대학교산학협력단
Abstract: PURPOSE: A remote operated surgical robot system with an image guidance is provided to implement a comfortable robot operation environment through the exact image information. CONSTITUTION: An operating device(100) comprises an haptic master and an image display showing a virtual image to a doctor. The surgical operation apparatus(200) comprises a endoscope based slave manipulator(210). An image processing apparatus changes an medical image of the before surgery into 3D image and project the medical image of the before surgery to an endoscopy image. The image processing apparatus generates a virtual image. A control unit includes a master controller controlling the control of the haptic master and also includes a slave controller generating various control inputs.
Abstract translation: 目的：提供具有图像引导功能的遥控手术机器人系统，通过精确的图像信息实现舒适的机器人操作环境。 构成：操作装置（100）包括触觉主体和向医生显示虚拟图像的图像显示。 外科手术装置（200）包括基于内窥镜的从动操纵器（210）。 图像处理装置将手术前的医学图像改变为3D图像，并将手术前的医学图像投影到内窥镜图像。 图像处理装置生成虚像。 控制单元包括控制触觉主控制的主控制器，还包括产生各种控制输入的从控制器。
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公开(公告)号：KR1020100077615A
公开(公告)日：2010-07-08
申请号：KR1020080135614
申请日：2008-12-29
Applicant: 전남대학교산학협력단
Abstract: PURPOSE: A five degree-of-freedoms of a haptic device is provided to reduce measurement-errors due to sagged joints by integrating a parallel linkage part and a serial linkage part. CONSTITUTION: A base(101) includes a plurality of actuators and a plurality of pulleys. A driving part includes a first joint actuator, a second joint actuator, and a third joint actuator(116). A first joint(120) includes a first joint driving large-pulley(122), and a first linkage(124) and a second linkage(126) which are connected with the first joint driving large-pulley. A parallel linkage part(130) transfers the first joint according to the rotation of the first joint driving large-pulley. A second joint(150) is connected with the driving support(140) of the parallel linkage part. A third joint(160) is connected with the second joint. A driving linkage part(180) is composed of a fourth joint(170). A serial linkage part(190) serially connects the first to the fourth joints.
Abstract translation: 目的：提供触觉装置的五个自由度，以通过集成并联连接部件和串联连接部件来减少由于下垂接头引起的测量误差。 构成：基座（101）包括多个致动器和多个滑轮。 驱动部分包括第一关节致动器，第二关节致动器和第三关节致动器（116）。 第一接头（120）包括第一接头驱动大带轮（122）以及与第一接头驱动大带轮连接的第一连杆机构（124）和第二连杆机构（126）。 平行联动部件（130）根据第一关节驱动大带轮的旋转传递第一关节。 第二接头（150）与平行连杆部件的驱动支撑件（140）连接。 第三关节（160）与第二关节连接。 驱动联动部（180）由第四接头（170）构成。 串联连接部分（190）串联连接第一和第四关节。
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公开(公告)号：KR1020100012394A
公开(公告)日：2010-02-08
申请号：KR1020080073757
申请日：2008-07-28
Applicant: 전남대학교산학협력단
Abstract: PURPOSE: A micro robot and a driving method thereof are provided to allow the micro robot to travel inside a blood vessel without damaging the inner wall of the blood vessel by bending and stretching the legs with an external magnetic force. CONSTITUTION: A micro robot comprises a main body(20), inclined legs(30), a magnetic element or first magnetic force generating unit(40), and a second magnetic force generating unit(50). The legs, inclined rearwards, can be bent elastically. The magnetic element or first magnetic force generating unit is installed inside the main body. The second magnetic force generating unit bends the legs by alternately moving the main body to a micro vessel(100) by attractive and repulsive forces.
Abstract translation: 目的：提供微型机器人及其驱动方法，以使微型机器人能够在血管内行进而不会因外部磁力弯曲和伸展腿部而损伤血管内壁。 构成：微型机器人包括主体（20），倾斜支腿（30），磁性元件或第一磁力产生单元（40）和第二磁力产生单元（50）。 向后倾斜的腿可以弹性弯曲。 磁性元件或第一磁力产生单元安装在主体内部。 第二磁力产生单元通过以吸引力和排斥力交替地将主体交替地移动到微型容器（100）来弯曲腿部。
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公开(公告)号：KR1020090122648A
公开(公告)日：2009-12-01
申请号：KR1020080048572
申请日：2008-05-26
Applicant: 전남대학교산학협력단
IPC: A61M25/00 , A61M31/00 , A61M25/095 , A61M11/00
CPC classification number: A61B6/03 , A61B6/12 , A61B17/320758 , A61B2017/00345 , A61B2017/00411 , A61B2034/303
Abstract: PURPOSE: A micro-robot for the blood vessel treatment and a micro-robot system using the micro-robot are provided, which can solve the problem of the blood vessel injury by a side wire since a catheter is not inserted. CONSTITUTION: A micro-robot for the blood vessel treatment comprises a robot body(110) moving in the blood vessel; a location information provider(120) offering the location information of the robot body; a driving part(130) running the robot body; a treating unit(140) treating blood vessel disease; and a robot control unit(150) which controls the location information provider, movable part, and treating unit. The treating unit is formed in the front of the robot body and includes a micro-drill which physically treats blood vessel disease.
Abstract translation: 目的：提供用于血管治疗的微机器人和使用微机器人的微机器人系统，其可以解决由于未插入导管而导致的侧线的血管损伤的问题。 构成：用于血管治疗的微机器人包括在血管中移动的机器人体（110）; 提供机器人主体的位置信息的位置信息提供器（120） 运行所述机器人主体的驱动部（130） 治疗单元（140），治疗血管疾病; 以及控制所述位置信息提供者，可移动部分和处理单元的机器人控制单元（150）。 处理单元形成在机器人主体的前部，并且包括物理治疗血管疾病的微型钻头。
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