公开(公告)号：KR1020020082978A

公开(公告)日：2002-11-01

申请号：KR1020010022141

申请日：2001-04-24

Applicant: 한국과학기술연구원

Inventor： 김병규 ,  임영모 ,  이영재 ,  홍예선 ,  김수현 ,  박종오

IPC: A61B1/00

CPC classification number: A61B1/041 ,  A61B1/00156 ,  A61B34/72

Abstract: PURPOSE: A micro robot is provided to relieve pain of the patient and allow examination to be easily performed by permitting the micro robot to automatically move within the large intestine of the patient. CONSTITUTION: A micro robot comprises a front driving unit(50) having an illumination device, a photographing device and a driving member for movement of the robot, and which photographs interior of intestine, by being moved within the intestine; a rear driving unit(60) spaced apart from the front driving unit, and which moves along the inner wall of intestine and permits the robot to move fast or easily convert direction through an additional driving member; a steering unit(70) positioned at the central axis connecting the front driving unit and the rear driving unit, and which stably supports movement of the front driving unit and the rear driving unit; a body fixing unit(80) for connecting peripheries of the front driving unit and the rear driving unit, and fixing the robot at a predetermined point; and a control unit(90) for controlling movement of the robot by controlling the front driving unit, rear driving unit and the body fixing unit.

Abstract translation: 目的：提供微型机器人，以减轻患者的疼痛，并允许微型机器人在患者的大肠内自动移动来容易地进行检查。 构成：微型机器人包括具有照明装置的前驱动单元（50），用于机器人移动的拍摄装置和驱动构件，以及通过在肠内移动的肠内照片; 与前驱动单元间隔开的后驱动单元（60），其沿着肠内壁移动并允许机器人快速或容易地通过附加的驱动构件转换方向; 位于连接前驱动单元和后驱动单元的中心轴并且稳定地支撑前驱动单元和后驱动单元的运动的转向单元（70） 主体固定单元，用于连接前驱动单元和后驱动单元的周边，并将机器人固定在预定点; 以及通过控制前驱动单元，后驱动单元和主体固定单元来控制机器人的移动的控制单元（90）。

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。

公开(公告)号：KR100413058B1

公开(公告)日：2003-12-31

申请号：KR1020010022141

申请日：2001-04-24

Applicant: 한국과학기술연구원

Inventor： 김병규 ,  임영모 ,  이영재 ,  홍예선 ,  김수현 ,  박종오

IPC: A61B1/00

CPC classification number: A61B1/041 ,  A61B1/00156 ,  A61B34/72

Abstract: A micro-robot for colonoscope with motor locomotion comprises an information detecting unit for obtaining information of the interior of the colon and a driving unit for generating its own locomotion and moving the information detecting unit without causing any damages to the walls of the colon.

Abstract translation: 一种用于具有马达运动的结肠镜的微型机器人，包括用于获得结肠内部信息的信息检测单元和用于生成其自身运动并且移动信息检测单元而不会对结肠壁造成任何损伤的驱动单元。

公开(公告)号：KR100380181B1

公开(公告)日：2003-04-11

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: A self-propelled endoscopic micro-robot, comprising a head for obtaining the errorless information of an interior of a tubular organ; an impact force generating unit connected the head generating an impact force according to a pneumatic pressure externally supplied and sucked by a air pressure supplier and making the self-propelled endoscopic micro-robot move in the tubular organ; and a plurality of supporting arms connected the head with end of the impact force for covering the impact force generating unit, making a housing of the self-propelled endoscopic micro-robot, and adjusting frictional force between the interior of the tubular organ and the housing as desired.

Abstract translation: 一种自走式内窥镜微型机器人，包括：头部，用于获取管状器官内部的无误信息; 碰撞力产生单元，连接所述头部，根据由外部供给的气压和由气压供给器抽吸的气压产生碰撞力，并使所述自推进的内窥镜微型机器人在所述管状器官内移动; 以及多个支撑臂，该多个支撑臂以冲击力的一端连接头部以覆盖冲击力产生单元，形成自行式内窥镜微型机器人的壳体，并且调整管状器官的内部与壳体之间的摩擦力 如预期的。