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WO2025110381A1 - Dispositif mobile pour entraîner un microrobot - Google Patents

Dispositif mobile pour entraîner un microrobot Download PDF

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Publication number
WO2025110381A1
WO2025110381A1 PCT/KR2024/008687 KR2024008687W WO2025110381A1 WO 2025110381 A1 WO2025110381 A1 WO 2025110381A1 KR 2024008687 W KR2024008687 W KR 2024008687W WO 2025110381 A1 WO2025110381 A1 WO 2025110381A1
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WO
WIPO (PCT)
Prior art keywords
electromagnet
driving
robotic arm
microrobot
magnetic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/KR2024/008687
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English (en)
Korean (ko)
Inventor
박종오
김자영
최은호
김의선
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Korea Institute of Medical Microrobotics
Original Assignee
Korea Institute of Medical Microrobotics
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Filing date
Publication date
Application filed by Korea Institute of Medical Microrobotics filed Critical Korea Institute of Medical Microrobotics
Publication of WO2025110381A1 publication Critical patent/WO2025110381A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0081—Programme-controlled manipulators with leader teach-in means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00345—Micromachines, nanomachines, microsystems

Definitions

  • This invention was made with the support of the Ministry of Health and Welfare under the project identification number RS-2023-00302154.
  • the research management specialized institution of the said project is the Korea Health Industry Development Institute
  • the research project name is the "Inter-ministerial Full-cycle Medical Device Research and Development Project”
  • the research project name is "Capsule Endoscopic Mobile Medical Device for Active Imaging Diagnosis of the Entire Digestive Organ”
  • the main institution is the Korea Micro Medical Robot Research Institute
  • the research period is from January 1, 2024 to December 31, 2024.
  • the present invention relates to a mobile device for driving a microrobot, and more particularly, to a mobile device for driving a microrobot capable of driving a microrobot and recognizing its location within a human body.
  • Electromagnetic field devices are being developed to drive microrobots inside the human body from outside the human body.
  • wired or wireless microrobots are being used, and technologies for driving microrobots by controlling the direction and size of magnetic fields through electromagnetic field devices are known or are under development.
  • the capsule endoscope drive device using a robot arm that is being researched and developed uses a commercialized industrial robot arm, so the overall drive device is large in volume and very heavy. Most of the robot arm control and electromagnetic field control for capsule endoscope drive are indirectly controlled using separate dedicated controllers and software. A method of driving by mounting a joystick on a lightweight robot arm end-effector is being developed, but the capsule endoscope is driven only using a spherical permanent magnet.
  • the capsule endoscope drive device using a commercialized industrial robot arm has the problem that it is difficult to integrate with peripheral devices and manufacture it as a single system, and there is a limitation that it is difficult to use in actual medical settings because it is difficult to make it miniaturized and lightweight. Since capsule endoscope examinations for medical purposes use the human body as the target, the drive device using an industrial robot can result in direct harm to the human body even for relatively simple reasons such as lack of skill in operation. Therefore, equipment that allows the user to intuitively control the capsule endoscope located inside the human body is required for safer and more accurate examinations.
  • the existing capsule endoscope drive device using a lightweight robot arm since the drive method using only permanent magnets is used, a separate additional device is required for capsule endoscope position recognition.
  • the existing equipment for capsule endoscope operation does not implement the position recognition, manual control, active control, and autonomous operation method of the capsule endoscope in a single system.
  • the purpose of the present invention is to provide a mobile device for driving a microrobot based on a handgrip controller for active capsule endoscopy.
  • the present invention aims to simultaneously perform five-degree-of-freedom electromagnetic field actuation and position recognition, and to provide passive actuation, remote actuation, and autonomous actuation.
  • the present invention is characterized by including: an electromagnet unit that generates an electromagnetic field to drive a magnetic object with 5 degrees of freedom (5DOF) and recognizes the position of the magnetic object with 5 degrees of freedom; a robotic arm that supports the electromagnet unit and fixes or moves the electromagnet unit; a handgrip type controller that is coupled to the electromagnet unit or the robotic arm and has a button that controls the robotic arm to move the electromagnet unit to a desired position; and a body to which the robotic arm is fixed.
  • an electromagnet unit that generates an electromagnetic field to drive a magnetic object with 5 degrees of freedom (5DOF) and recognizes the position of the magnetic object with 5 degrees of freedom
  • a robotic arm that supports the electromagnet unit and fixes or moves the electromagnet unit
  • a handgrip type controller that is coupled to the electromagnet unit or the robotic arm and has a button that controls the robotic arm to move the electromagnet unit to a desired position
  • a body to which the robotic arm is fixed
  • the electromagnet section can detect a magnetic field generated from a magnetic object using a Hall sensor array module, and convert the detected magnetic field into position information using a 5-degree-of-freedom positioning formula (5 DoF Inverse model).
  • a 5-degree-of-freedom positioning formula (5 DoF Inverse model).
  • the electromagnet section includes a first hybrid electromagnet module; and a second hybrid electromagnet module; wherein the first hybrid electromagnet module includes a first magnetic body including a first permanent magnet, and a first electromagnet including a first magnetic core and a first wire wound around the first magnetic core, and the second hybrid electromagnet module includes a second magnetic body including a second permanent magnet, and a second electromagnet including a second magnetic core and a second wire wound around the second magnetic core, and the first hybrid electromagnet module and the second hybrid electromagnet module can be arranged such that a central axis of the first hybrid electromagnet module and a central axis of the second hybrid electromagnet module intersect to form an intersection point.
  • the robotic arm comprises one or more joints and one or more connecting parts, and is capable of freely moving the electromagnet part in three dimensions.
  • At least one of the one or more joints may have a torque sensor for force sensing and a servo motor for driving therein.
  • the robotic arm includes first to fifth joints, and first to fourth connecting portions, wherein the first joint is connected to the body and the first connecting portion, the second joint is connected to the first connecting portion and the second connecting portion, the third joint is connected to the second connecting portion and the third connecting portion, the fourth joint is connected to the third connecting portion and the fourth connecting portion, and the fifth joint can be connected to the fourth connecting portion and the electromagnet portion.
  • the first joint is provided with a linear stage and a limit sensor, and can drive the first connecting part in the z-axis direction using the linear stage and the limit sensor to adjust the height of the electromagnet part.
  • the second joint and the third joint may be rotatable in the z-axis direction
  • the fourth joint and the fifth joint may be rotatable in the z-axis direction or the y-axis direction.
  • the first to fifth joints can detect the direction and intensity of the force from each torque sensor and operate each servo motor connected to each torque sensor.
  • the method further comprises: a control unit for controlling movement of the robotic arm and a magnetic field of the electromagnet unit; wherein the control unit can perform operations of receiving a remote control signal transmitted by a user, an operation of moving the robotic arm according to the remote control signal to place the electromagnet unit at a desired position, an operation of controlling the magnetic field of the electromagnet unit according to the remote control signal to control the posture of the magnetic object, and an operation of acquiring magnetic field data for recognizing the position of the magnetic object with five degrees of freedom.
  • the method further comprises: a control unit for controlling movement of the robotic arm and a magnetic field of the electromagnet; wherein the control unit is configured to perform an operation of obtaining an optimal path to a target location using image data transmitted in real time from the magnetic object and 5-degree-of-freedom position recognition data transmitted from the electromagnet, an operation of moving the robotic arm to place the electromagnet at a desired location to move the magnetic object along the optimal path, and an operation of controlling the magnetic field of the electromagnet to move the magnetic object, and an operation of transmitting a notification or image data to a user when the magnetic object discovers an inspection location or a lesion site.
  • a control unit for controlling movement of the robotic arm and a magnetic field of the electromagnet
  • the control unit is configured to perform an operation of obtaining an optimal path to a target location using image data transmitted in real time from the magnetic object and 5-degree-of-freedom position recognition data transmitted from the electromagnet, an operation of moving the robotic arm to place the electromagnet at a desired location to move the magnetic object
  • the present invention is a single device that integrates a capsule endoscope driving device and peripheral devices, and has the advantage of being miniaturized and lightweight compared to driving equipment using existing industrial robot arms, and being suitable for use in actual medical settings.
  • the present invention has the advantage of enabling passive driving, remote driving, and autonomous driving of a capsule endoscope, as well as real-time 5-degree-of-freedom position recognition.
  • Figure 1 shows a configuration diagram of a mobile device for driving a microrobot according to an embodiment of the present invention.
  • Figures 2 and 3 show the configuration of a permanent magnet unit according to an embodiment of the present invention.
  • Figure 4 shows the state of a robotic arm according to an embodiment of the present invention before and after being stored in a storage space.
  • Figure 5 shows a configuration diagram of a robotic arm according to an embodiment of the present invention.
  • FIGS. 6A to 6C illustrate drawings for explaining the movement of a robotic arm according to an embodiment of the present invention.
  • Figures 7a to 7c illustrate a driving method of a mobile device for driving a microrobot according to an embodiment of the present invention.
  • Figures 8a to 8c illustrate drawings for explaining control buttons provided on a handgrip type controller.
  • Figure 9 shows the entire operation process of a mobile device for driving a microrobot according to an embodiment of the present invention.
  • An electromagnet section that generates an electromagnetic field to drive a magnetic object in five degrees of freedom (5DOF) and recognizes the position of the magnetic object in five degrees of freedom;
  • a robotic arm that supports the above-mentioned electromagnet part and fixes or moves the above-mentioned electromagnet part;
  • a hand grip type controller coupled with the electromagnet part or the robotic arm, and having a button for controlling the robotic arm to move the electromagnet part to a desired position;
  • a mobile device for driving a microrobot comprising:
  • first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.
  • the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.
  • FIG. 1 shows a configuration diagram of a mobile device (1000) for driving a microrobot according to an embodiment of the present invention.
  • the mobile device (1000) for driving a microrobot may include an electromagnet unit (10), a robotic arm (20), a hand grip type controller (30), a body (40), a monitor (50), a monitor arm (60), and a control unit (not shown).
  • a mobile device (1000) for driving a microrobot is a single device that integrates a capsule endoscope driving device and peripheral devices, and can be made smaller and lighter than existing driving devices using industrial robot arms, and can be used in actual medical settings.
  • the mobile device (1000) for driving a microrobot is capable of passive driving, remote driving, and autonomous driving of a magnetic object (1), as well as real-time 5-degree-of-freedom position recognition.
  • the mobile device (1000) for driving a microrobot can use a power-assisted passive driving method that recognizes force and drives the device when a user holds a handgrip-type controller and directly applies force, so that the user can intuitively drive a magnetic object (1) located inside the human body up, down, left, and right.
  • the mobile device (1000) for driving a microrobot is significantly less likely to cause direct harm to the human body than an industrial robot arm, thereby enabling safer and more accurate inspections.
  • a mobile device (1000) for driving a microrobot can be used as an advanced automated examination device that automatically performs examination and judgment of the entire digestive organs with a single click of a button without intervention by medical staff by combining it with artificial intelligence technology.
  • FIGs 2 and 3 show a configuration diagram of an electromagnet (10) according to an embodiment of the present invention.
  • an electromagnet (10) generates an electromagnetic field to drive a magnetic object (1) with 5 degrees of freedom (5DOF), and can recognize the position of the magnetic object (1) with 5 degrees of freedom.
  • 5DOF degrees of freedom
  • the first hybrid electromagnet module (100) may include a first magnetic body (110) and a first electromagnet (120), and the second hybrid electromagnet module (200) may include a second magnetic body (210) and a second electromagnet (220).
  • first hybrid electromagnet module (100) and the second hybrid electromagnet module (200) may be arranged so that the central axis (2) of the first hybrid electromagnet module and the central axis (3) of the second hybrid electromagnet module intersect to form an intersection point (4).
  • the central axis of each hybrid electromagnet module is arranged to form an intersection point (4), the magnetic field generated from each hybrid electromagnet module can be focused at the intersection point.
  • the central axis (2) of the first hybrid electromagnet module and the central axis (3) of the second hybrid electromagnet module can be arranged to form a constant angle (5).
  • the angle formed by the two central axes (2, 3) can be any one of 1 to 90, 10 to 80, 10 to 70, 10 to 60, 10 to 50, 20 to 80, 20 to 70, 20 to 60, 20 to 50 or 20 to 40 degrees, and for example, can be 30 degrees, but is not limited thereto.
  • the first magnetic body (110) may include a first permanent magnet (115), and the second magnetic body (210) may include a second permanent magnet (215).
  • the first permanent magnet or the second permanent magnet may be one or more of a neodymium magnet, a ferrite magnet, an alnico magnet, a samarium cobalt magnet, and a rubber magnet, or a combination thereof, and may be, for example, a neodymium magnet, but is not limited thereto.
  • the first magnetic body (110) may be arranged so that the magnetization direction in the first hybrid electromagnet module (100) is parallel to the central axis (2) of the first hybrid electromagnet module
  • the second magnetic body (210) may be arranged so that the magnetization direction in the second hybrid electromagnet module (200) is parallel to the central axis (3) of the second hybrid electromagnet module.
  • the first magnetic body (110) and the second magnetic body (210) may be arranged so that the magnetic field directions of the first magnetic body (110) and the second magnetic body (210) are arranged in opposite directions based on the intersection point (4).
  • the S pole of the first permanent magnet (115) may be arranged adjacent to the frame (300), and the N pole may be arranged adjacent to the first electromagnet (120), and in the second hybrid electromagnet module (200), the S pole of the second permanent magnet (215) may be arranged adjacent to the second electromagnet (220), and the N pole may be arranged adjacent to the frame (300).
  • the direction of the magnetic field in the region of interest (ROI) can be set to a specific direction using only the permanent magnet.
  • At least one of the first permanent magnet (110) and the second permanent magnet (210) may include a hollow center.
  • the first electromagnet (120) may include a first magnetic core (121) and a first wire wound on the first magnetic core.
  • the second electromagnet (220) may include a second magnetic core (221) and a second wire wound on the second magnetic core.
  • the first electromagnet (120) and the second electromagnet (220) may be coils of one or more types selected from a solenoid coil, a circular coil, a square coil, a Maxwell coil, a Helm-Heltz coil, and a saddle coil, and may be, for example, a solenoid coil.
  • the first wire or the second wire may be an enameled wire, copper, an enameled copper wire, or an enameled aluminum wire.
  • the frame (300) can connect the first hybrid electromagnet module (100) and the second hybrid electromagnet module (200) to each other.
  • the frame (300) can include a shielding material, and when the frame (300) includes a shielding material, the magnetic fields generated from each of the first hybrid electromagnet module (100) and the second hybrid electromagnet module (200) can be prevented from interfering with each other.
  • the first electromagnet (120) may be positioned further from the intersection point (4) within the first hybrid electromagnet module (100) than the first magnetic body (110), and the second electromagnet (220) may be positioned further from the intersection point (4) within the second hybrid electromagnet module (200) than the second magnetic body (210).
  • the electromagnet unit (10) can detect a magnetic field generated from a magnetic object (1) using a Hall sensor array module (11), and convert the detected magnetic field into position information using a 5-degree-of-freedom positioning formula (5 DoF Inverse model).
  • the magnetic object (1) may be a Wireless Capsule Endoscope (WCE), but is not limited thereto.
  • the electromagnet unit (10) can obtain 5-degree-of-freedom position recognition data of the magnetic object (1) in real time using the Hall sensor array module (11).
  • the position recognition data may mean the strength of a magnetic field, the strength of an electromotive force (EMF), etc. for determining the position of the magnetic object (1).
  • the array interval, number, and type of the Hall sensor array module (11) may be changed depending on the required environment.
  • the electromagnet part (10) can move freely in three dimensions by the robotic arm (20). Specifically, the electromagnet part (10) can move up and down in the z-axis direction by the first connecting part (22) being driven by the first joint (21). The electromagnet part (10) can move freely in the x, y plane by the z-axis rotation of the second joint (23) and the third joint (25). The electromagnet part (10) can be controlled by the z-axis or y-axis rotation of the fourth joint (27) and the fifth joint (29). That is, the electromagnet part (10) can move freely in three dimensions by the driving of the first to fifth joints, and through this, the magnetic object (1) can be driven with a five-degree-of-freedom magnetic field or its position can be recognized.
  • the robotic arm (30) supports the electromagnet part (10) and can fix or move the electromagnet part (10).
  • Figure 4 shows the state before and after the robotic arm (20) according to an embodiment of the present invention is stored in a storage space.
  • the robotic arm (20) can be stored or loaded in a storage section (43) formed in the body (40).
  • the robotic arm (20) can be stored or loaded in the storage section (43) to reduce the overall volume.
  • FIG. 5 shows a configuration diagram of a robotic arm (20) according to an embodiment of the present invention.
  • the robotic arm (20) includes one or more joints (21, 23, 25, 27, 29) and one or more connecting parts (22, 24, 26, 28), and can freely move an electromagnet part (10) in three dimensions.
  • the robotic arm (20) can be connected in a link structure and can have a total of five joints.
  • a handgrip type controller (30) that allows a user to hold the device in his hand and control the device, and an electromagnet part (10) can be attached to an end effector of the robotic arm (20).
  • At least one of the one or more joints may be provided with a torque sensor for force sensing and a servo motor for driving.
  • the torque sensor may detect the direction and intensity of the force
  • the servo motor may be connected to each torque sensor and operated with an appropriate intensity and direction according to the direction and intensity of the detected force.
  • the robotic arm (20) includes first to fifth joints (21, 23, 25, 27, 29), and first to fourth connecting parts (22, 24, 26, 28).
  • the first joint (21) is connected to the body (40) and the first connecting part (22)
  • the second joint (23) is connected to the first connecting part (22) and the second connecting part (24)
  • the third joint (25) is connected to the second connecting part (24) and the third connecting part (26)
  • the fourth joint (27) is connected to the third connecting part (26) and the fourth connecting part (28)
  • the fifth joint (29) can be connected to the fourth connecting part (28) and the electromagnet part (10).
  • the first connecting portion (22) and the second connecting portion (24) form a 90-degree angle and can be connected to the second joint (23).
  • the second connecting portion (24) can rotate 360 degrees based on the z-axis direction central axis of the second joint (23) (the central axis of the first connecting portion (22)).
  • the second connecting portion (24) and the third connecting portion (26) can be connected with a link structure.
  • the third connecting portion (26) can rotate 360 degrees based on the z-axis direction central axis of the third joint (25).
  • the first joint (21) is equipped with a linear stage and a limit sensor, and can drive the first connecting part (22) in the z-axis direction by using the linear stage and the limit sensor to adjust the height of the electromagnet part (10).
  • the first joint (21) can be located in the storage space of the body (40) for vertical driving, and a first operating button (44) that can move the first connecting part (22) up and down by operating the first joint for convenient height adjustment can be located on the side of the body (40).
  • the first joint (21) is located on the other side of the grip of the hand grip type controller (30). It can also be controlled by buttons.
  • FIGS. 6A to 6C illustrate drawings for explaining the movement of a robotic arm according to an embodiment of the present invention.
  • the second joint (23) and the third joint (25) can be rotated in the z-axis direction.
  • the second joint (23) and the third joint (25) can be connected by a link structure and can control the magnetic field of the electromagnet unit (10) by rotating in the z-axis direction.
  • the fourth joint (27) and the fifth joint (29) can rotate in the z-axis direction or the y-axis direction.
  • the fourth joint (27) and the fifth joint (29) can rotate in the z-axis or the y-axis direction as shown in FIG. 6b and FIG. 6c and control the magnetic field of the electromagnet part (10).
  • the first joint (21) to the fifth joint (29) can detect the direction and intensity of the force from each torque sensor and operate each servo motor connected to each torque sensor.
  • the control unit (not shown) can control the movement of the robotic arm (20) and the magnetic field of the electromagnet unit (10).
  • Figures 7a to 7c illustrate a driving method of a mobile device (1000) for driving a microrobot according to an embodiment of the present invention.
  • the mobile device (1000) for driving a microrobot can be controlled in a passive driving manner by a user.
  • the user directly holds the hand grip controller (30) coupled to the end of the robotic arm (20) and moves the electromagnet unit (10) for driving and recognizing the position of the capsule endoscope to a desired position.
  • the electromagnet unit (10) for driving and recognizing the position of the capsule endoscope to a desired position.
  • each joint detects the strength and direction of the force from the torque sensor of the joint affected by the direction, and operates the servo motor connected to the torque sensor, thereby enabling the user to operate the electromagnet unit (10) to a desired position with little force, thereby performing a power assistance device function.
  • the user can obtain posture control of the capsule endoscope and real-time 5-degree-of-freedom position recognition data of the capsule endoscope through 5-degree-of-freedom magnetic field control by using various buttons arranged on the hand grip controller (30) at a desired position.
  • the mobile device (1000) for driving a microrobot can be controlled by a remote control method using a wireless controller.
  • the control unit (not shown) can perform an operation of receiving a remote control signal transmitted by a user, an operation of moving a robotic arm (20) according to the remote control signal to place an electromagnet (10) at a desired position, an operation of controlling the magnetic field of the electromagnet (10) according to the remote control signal to control the posture of a magnetic object (1), and an operation of acquiring magnetic field data for recognizing the position of a magnetic object with five degrees of freedom.
  • the control unit (not shown) can individually control a servo motor located at each joint according to a remote control signal of the user. The user can receive feedback on the position information of the servo motor through the control unit, and thereby intuitively drive and rotate the electromagnet (10) forward, backward, left, and right.
  • the mobile device (1000) for driving a microrobot can be controlled in an autonomous manner that does not require user intervention.
  • the control unit (not shown) can perform an operation of obtaining an optimal path to a target location by using image data transmitted in real time from a magnetic object (1) and 5-degree-of-freedom position recognition data transmitted from the electromagnet unit, an operation of moving a robotic arm (20) to place the electromagnet unit (10) at a desired location to move the magnetic object (1) along the optimal path, and an operation of controlling the magnetic field of the electromagnet unit (10) to move the magnetic object (1), and an operation of transmitting a notification or image data to a user when the magnetic object (1) discovers an inspection location or a lesion site.
  • the control unit (not shown) can perform an inspection by moving along a path preset by the software without user intervention, or can autonomously drive the wireless capsule endoscope in combination with artificial intelligence navigation technology.
  • the hand grip type controller (30) is coupled with an electromagnet (10) or a robotic arm (20), and may be provided with a button for controlling the robotic arm (20) to move the electromagnet (10) to a desired position.
  • Figures 8a to 8c illustrate drawings for explaining control buttons provided in a hand grip type controller (30).
  • a force feedback function On/Off button may be placed on the inside of the grip of the hand grip type controller (30).
  • the force feedback function is turned on only when the corresponding button is pressed, and since the power assistance function is performed only when the force feedback function is on, safety can be improved.
  • the servo motor located in the fifth joint can be driven to rotate the electromagnet part (10) in the z-Rot direction.
  • the capsule endoscope can be rotated in the z-Rot direction due to the change in the direction of the magnetic field generated from the electromagnet part (10).
  • the capsule endoscope automatic motion button arranged on one side of the grip of the hand-grip type controller (30) can perform functions such as Auto Pitching and Auto Yawing to rotate the capsule endoscope at preset z-Rot and y-Rot angles while changing the direction of the magnetic field generated from the electromagnet part (10), and then automatically return to the previous motion.
  • the grip side of the hand grip type controller (30) is arranged
  • the first joint can be controlled using a button.
  • a torque sensor is built in like other joints, but if the distance between the electromagnet (10) and the body (40) increases, power transmission in the z-axis direction may be difficult, so the power assistance function by the torque sensor may not operate smoothly. Therefore, a separate button is placed to control the servo motor of the first joint to enable z-axis movement.
  • the grip side of the hand grip type controller (30) is located By using the button to drive the servo motor of the fourth joint, the electromagnet part (10) can be rotated in the y-Rot direction. At this time, the capsule endoscope can be rotated in the y-Rot direction due to the change in the direction of the magnetic field generated in the electromagnet part (10).
  • the hand grip controller (30) is arranged on the other side of the grip.
  • the button can be used to switch to passive driving mode or remote control mode depending on the currently selected driving mode. All buttons attached to the hand grip type controller (30) can change position and function depending on the situation.
  • the body (40) can have a robotic arm (20) fixed thereto.
  • the internal space of the body (40) can accommodate devices required for operation, such as a PC, a motor driver, a control circuit, and a power supply device.
  • the body (40) is a device (1000) that can move, and this can be implemented through a moving module (41) and a wheel (42) located at the lower part of the body (40), as can be seen in FIG. 1.
  • the monitor (50) can be fixed to the upper part of the body (40) and can be placed on the opposite side of the electromagnet part (10).
  • the monitor (50) is connected to a monitor arm (60) so that the angle and height can be adjusted.
  • Figure 9 shows the entire operation process of a mobile device (1000) for driving a microrobot according to an embodiment of the present invention.
  • the torque sensor detects the force generated when the user holds the handgrip controller (30) and moves the electromagnet unit (10) to a desired position, and the torque sensor drives the servo motor connected to the torque sensor to perform a power assistance function.
  • the magnetic field generated from the electromagnet unit (10) is controlled by using the button arranged on the handgrip controller (30) at the target position, and accordingly, the operation of the capsule endoscope and the 5-degree-of-freedom position recognition data can be acquired in real time.
  • the user checks the image and position information data wirelessly transmitted in real time from the capsule endoscope through the monitor (50) and conducts the examination, and when the examination at the target position is completed, the process of moving to the next target position is repeated, and the entire digestive organs can be examined.
  • the mobile device (1000) for driving a microrobot uses a remote control method
  • the device (1000) is prepared and power is supplied to the electromagnet unit (10), the control circuit, and the PC
  • the user can drive the capsule endoscope using a wireless controller for remote control.
  • the magnetic field generated from the electromagnet unit (10) is controlled using the wireless controller for remote control at the target location, and accordingly, the operation of the capsule endoscope and 5-degree-of-freedom position recognition data can be acquired in real time.
  • the user checks the image and position information data wirelessly transmitted in real time from the capsule endoscope through a monitor (50) and conducts the examination, and when the examination at the corresponding location is completed, the process of moving to the next target location is repeated, and the entire digestive organs can be examined.
  • the autonomous driving mode can be executed by pressing the autonomous driving button arranged on the handgrip controller (30) or the autonomous driving button arranged on the wireless controller for remote control. Thereafter, without user intervention, the inspection can be performed automatically by performing optimal path estimation and movement and motion control of the capsule endoscope through magnetic field control using image data and 5-degree-of-freedom position recognition data transmitted in real time from the capsule endoscope camera.
  • Secondary magnetic material 215 Secondary permanent magnet
  • Second electromagnet 221 Second magnetic core
  • the purpose of the present invention is to provide a mobile device for driving a microrobot based on a handgrip controller for active capsule endoscopy.
  • the present invention aims to simultaneously perform five-degree-of-freedom electromagnetic field actuation and position recognition, and to provide passive actuation, remote actuation, and autonomous actuation.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Manipulator (AREA)

Abstract

La présente invention est caractérisée en ce qu'elle comprend : une unité d'aimant électropermanent qui entraîne un objet magnétique à cinq degrés de liberté (5 DOF) par génération d'un champ électromagnétique, et reconnaît la position de l'objet magnétique avec 5 DOF ; un bras robotique qui supporte l'unité d'aimant électropermanent et fixe ou déplace celle-ci ; un dispositif de commande de type poignée couplé à l'unité d'aimant électropermanent ou au bras robotique et comportant un bouton pour commander le bras robotique de façon à déplacer l'unité d'aimant électropermanent vers une position souhaitée ; et un corps auquel le bras robotique est fixé.
PCT/KR2024/008687 2023-11-20 2024-06-24 Dispositif mobile pour entraîner un microrobot Pending WO2025110381A1 (fr)

Applications Claiming Priority (2)

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KR1020230160186A KR20250073807A (ko) 2023-11-20 2023-11-20 마이크로로봇 구동용 모바일 장치
KR10-2023-0160186 2023-11-20

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WO2025110381A1 true WO2025110381A1 (fr) 2025-05-30

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120516669A (zh) * 2025-07-25 2025-08-22 中国海洋大学 一种快速柔性抓取水下机器人

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KR20080100211A (ko) * 2006-02-03 2008-11-14 더 유럽피안 애토믹 에너지 커뮤니티(이유알에이티오엠), 리프레젠티드 바이 더 유럽피안 커미션 원통좌표형 조작 암을 구비한 의료용 로봇 시스템
WO2011072060A2 (fr) * 2009-12-08 2011-06-16 Magnetecs Corporation Capsule à propulsion magnétique thérapeutique et diagnostique, et procédé d'utilisation de celle-ci
US20190104994A1 (en) * 2017-10-09 2019-04-11 Vanderbilt University Robotic capsule system with magnetic actuation and localization
KR20220109820A (ko) * 2021-01-29 2022-08-05 재단법인 한국마이크로의료로봇연구원 마이크로 로봇 제어용 듀얼 하이브리드 전자석 모듈
US20230363842A1 (en) * 2021-11-30 2023-11-16 Endoquest Robotics, Inc. Position control for patient console

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Publication number Priority date Publication date Assignee Title
KR20080100211A (ko) * 2006-02-03 2008-11-14 더 유럽피안 애토믹 에너지 커뮤니티(이유알에이티오엠), 리프레젠티드 바이 더 유럽피안 커미션 원통좌표형 조작 암을 구비한 의료용 로봇 시스템
WO2011072060A2 (fr) * 2009-12-08 2011-06-16 Magnetecs Corporation Capsule à propulsion magnétique thérapeutique et diagnostique, et procédé d'utilisation de celle-ci
US20190104994A1 (en) * 2017-10-09 2019-04-11 Vanderbilt University Robotic capsule system with magnetic actuation and localization
KR20220109820A (ko) * 2021-01-29 2022-08-05 재단법인 한국마이크로의료로봇연구원 마이크로 로봇 제어용 듀얼 하이브리드 전자석 모듈
US20230363842A1 (en) * 2021-11-30 2023-11-16 Endoquest Robotics, Inc. Position control for patient console

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120516669A (zh) * 2025-07-25 2025-08-22 中国海洋大学 一种快速柔性抓取水下机器人

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