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1. 发明授权

US09136051B2 Microrobot system for intravascular therapy and method of controlling the same 有权
标题翻译：用于血管内治疗的微型机器人系统及其控制方法
公开(公告)号：US09136051B2
公开(公告)日：2015-09-15
申请号：US13697110
申请日：2012-06-04
申请人： Suk Ho Park , Jong Oh Park , Hyun Chul Choi , Kyoung Rae Cha , Se Mi Jeong
发明人： Suk Ho Park , Jong Oh Park , Hyun Chul Choi , Kyoung Rae Cha , Se Mi Jeong
IPC分类号： A61B1/04 , H01F7/02 , A61B6/12 , A61B19/00 , A61N2/00
CPC分类号： H01F7/02 , A61B6/12 , A61B34/30 , A61B34/72 , A61B34/73 , A61B2017/00345 , A61B2034/303 , A61B2090/376 , A61N2/002
摘要： The present invention relates, in general, to a microrobot system for intravascular therapy and, more particularly, to a microrobot system for intravascular therapy, which removes thrombus, clots and occlusions that are clogging blood vessels using the fast rotary power of a spherical microrobot having protrusions, thus treating clogged blood vessels.The microrobot system for intravascular therapy according to the present invention includes a spherical microrobot unit (100′) including a magnet having an arbitrary magnetization direction and having protrusions formed on a surface thereof. An electromagnetic field generation unit (200) sets an alignment direction and a locomotion direction of the microrobot unit to arbitrary directions in the 3D space, generates magnetic fields, and then drives the microrobot unit so that the microrobot unit is rotated by itself or is propelled in the locomotion direction. An imaging unit (300) captures an X-ray image and then tracking a location of the microrobot unit.
摘要翻译：本发明一般涉及用于血管内治疗的微型机器人系统，更具体地，涉及一种用于血管内治疗的微型机器人系统，其利用球形微型机器人的快速旋转动力去除阻塞血管的血栓，凝块和闭塞，突起，从而治疗血管堵塞。根据本发明的用于血管内治疗的微型机器人系统包括球形微型机器人单元（100'），其包括具有任意磁化方向并且在其表面上形成的突起的磁体。电磁场产生单元（200）将微型机器人单元的对准方向和移动方向设置在3D空间中的任意方向，产生磁场，然后驱动微型机器人单元，使得微型机器人单元自身旋转或被推进在运动方向。成像单元（300）捕获X射线图像，然后跟踪微机器单元的位置。

2. 发明申请

US20130053640A1 ACTUATION CONTROL SYSTEM OF A CAPSULE ENDOSCOPE 有权
标题翻译：胶囊内镜的致动控制系统
公开(公告)号：US20130053640A1
公开(公告)日：2013-02-28
申请号：US13446107
申请日：2012-04-13
申请人： Suk Ho PARK , Jong Oh PARK , Hyun Chul CHOI , Kyung Rae CHA , Se Mi JEONG
发明人： Suk Ho PARK , Jong Oh PARK , Hyun Chul CHOI , Kyung Rae CHA , Se Mi JEONG
IPC分类号： A61B1/04
CPC分类号： A61B1/041 , A61B1/00158
摘要： A system for controlling actuation of a capsule endoscope includes a receiving unit receiving an image transmitted from the capsule endoscope; a coil unit generating a magnetic field for actuating the capsule endoscope by using current applied thereto; a power supply unit supplying power to the coil unit; and an actuation controller control the current applied to the coil unit and a coil rotational motor for adjusting of a posture and the location of the capsule endoscope based on the identified lesion or location of the capsule endoscope, wherein the coil unit includes a pair of Helmholtz coils and a pair of Maxwell coils that are fixedly disposed on a main axis; and a pair of uniform saddle coils and a pair of gradient saddle coils that are located inside the pair of the Helmholtz coils and the pair of the Maxwell coils to rotate around the main axis.
摘要翻译：一种用于控制胶囊型内窥镜致动的系统，包括：接收单元，接收从胶囊型内窥镜传送的图像; 线圈单元，其通过使用施加于其上的电流产生用于致动所述胶囊型内窥镜的磁场; 电源单元，向所述线圈单元供电; 并且致动控制器控制施加到线圈单元的电流和线圈旋转电动机，用于基于所确定的胶囊型内窥镜的病变或位置来调节胶囊型内窥镜的姿势和位置，其中线圈单元包括一对亥姆霍兹线圈和固定设置在主轴上的一对麦克斯韦线圈; 以及一对均匀的鞍形线圈和一对梯度鞍形线圈，其位于亥姆霍兹线圈对和一对麦克斯韦线圈内围绕主轴线旋转。

3. 发明授权

US07498172B2 Hybrid bio actuator and method of manufacturing the same using 3-dimensional micro molding aligner 有权
标题翻译：混合生物致动器及其制造方法采用三维微型成型机
公开(公告)号：US07498172B2
公开(公告)日：2009-03-03
申请号：US12000957
申请日：2007-12-19
申请人： Suk-ho Park , Jin-seok Kim , Jung-yul Park , Duk-moon Rho , Byung-kyu Kim
发明人： Suk-ho Park , Jin-seok Kim , Jung-yul Park , Duk-moon Rho , Byung-kyu Kim
IPC分类号： B29C43/36
CPC分类号： B29C43/36 , B29C33/303 , C12M35/04 , C12N5/0658
摘要： A hybrid bio actuator and a manufacturing method thereof using a 3-dimensional micro molding aligning apparatus are provided. The manufacturing method has the steps of: 3-dimensionally forming an actuator body with polymer using the micro molding aligning apparatus; and transplanting and cultivating the muscular cell onto the actuator body. The step of forming the actuator body comprise: preparing the upper and lower half molds corresponding to an outer contour of the actuator; installing, on the mold plate unit, the upper and lower half molds opposite to each other and placing a mass of polymer above the lower half mold; aligning the lower half mold with the upper half mold using the aligner unit; pressing the mold plate unit using the clamp unit; solidifying the polymer; and removing the solidified polymer, thereby providing the hybrid bio actuator made of a biomaterial compatible with the human body and capable of operating without a separate battery or external energy source.
摘要翻译：提供了一种使用三维微型成型对准装置的混合生物致动器及其制造方法。该制造方法具有以下步骤：使用微型成型对准装置三维地形成具有聚合物的致动器主体; 并将肌肉细胞移植并培养到致动器主体上。形成致动器主体的步骤包括：准备对应于致动器的外轮廓的上半模和下半模; 在模板单元上安装相互相对的上半模和下半模，并将一组聚合物放在下半模的上方; 使用对准器单元将下半模与上半模对准; 使用夹具单元按压模板单元; 固化聚合物; 并除去固化的聚合物，从而提供由与人体相容的生物材料制成的并且能够在没有单独的电池或外部能源的情况下操作的混合生物致动器。

4. 发明申请

US20080099947A1 Hybrid bio actuator and method of manufacturing the same using 3-dimensional micro molding aligner 有权
标题翻译：混合生物致动器及其制造方法采用三维微型成型机
公开(公告)号：US20080099947A1
公开(公告)日：2008-05-01
申请号：US12000957
申请日：2007-12-19
申请人： Suk-ho Park , Jin-seok Kim , Jung-yul Park , Duk-moon Rho , Byung-kyu Kim
发明人： Suk-ho Park , Jin-seok Kim , Jung-yul Park , Duk-moon Rho , Byung-kyu Kim
IPC分类号： B27N3/12
CPC分类号： B29C43/36 , B29C33/303 , C12M35/04 , C12N5/0658
摘要： A hybrid bio actuator and a manufacturing method thereof using a 3-dimensional micro molding aligning apparatus are provided. The manufacturing method has the steps of: 3-dimensionally forming an actuator body with polymer using the micro molding aligning apparatus; and transplanting and cultivating the muscular cell onto the actuator body. The step of forming the actuator body comprise: preparing the upper and lower half molds corresponding to an outer contour of the actuator; installing, on the mold plate unit, the upper and lower half molds opposite to each other and placing a mass of polymer above the lower half mold; aligning the lower half mold with the upper half mold using the aligner unit; pressing the mold plate unit using the clamp unit; solidifying the polymer; and removing the solidified polymer, thereby providing the hybrid bio actuator made of a biomaterial compatible with the human body and capable of operating without a separate battery or external energy source.
摘要翻译：提供了一种使用三维微型成型对准装置的混合生物致动器及其制造方法。该制造方法具有以下步骤：使用微型成型对准装置三维地形成具有聚合物的致动器主体; 并将肌肉细胞移植并培养到致动器主体上。形成致动器主体的步骤包括：准备对应于致动器的外轮廓的上半模和下半模; 在模板单元上安装相互相对的上半模和下半模，并将一组聚合物放在下半模的上方; 使用对准器单元将下半模与上半模对准; 使用夹具单元按压模板单元; 固化聚合物; 并除去固化的聚合物，从而提供由与人体相容的生物材料制成的并且能够在没有单独的电池或外部能源的情况下操作的混合生物致动器。

5. 发明授权

US07365509B2 Capsule type micro-robot moving system 有权
标题翻译：胶囊型微机器人移动系统
公开(公告)号：US07365509B2
公开(公告)日：2008-04-29
申请号：US11431354
申请日：2006-05-10
申请人： Suk-Ho Park , Byung-Kyu Kim , Hyun-Jun Park
发明人： Suk-Ho Park , Byung-Kyu Kim , Hyun-Jun Park
IPC分类号： A61B1/00
CPC分类号： A61B1/041 , A61B1/00156 , A61B5/073 , A61B34/72 , A61B2017/00345
摘要： A capsule type micro-robot moving system moves on an organ's wall covered with mucilage at a high speed. The present invention provides a capsule type micro-robot moving system, which is structured such that a head is formed in a semi-spherical shape and the outer surface of the capsule is coated with an anti-adhesion coating agent for reducing friction against organs during the movement, particularly, is structured to move as long as a linear stroke corresponding to the distance between the driving part and the inner cylinder in the state that the limbs folded in and unfolded out of the capsule completely contact and stick to the walls of the organs, resulting in providing the reliability and moving more rapidly.
摘要翻译：胶囊型微机器人移动系统以高速移动在被粘液覆盖的器官壁上。本发明提供了一种胶囊型微机器人移动系统，其结构使得头部形成为半球形，并且胶囊的外表面涂覆有用于减少对器官的摩擦的抗粘附涂层剂特别地，运动被构造为移动，只要对应于驱动部分和内部气缸之间的距离的线性行程在四肢折叠并从胶囊中展开出来的状态完全接触并粘附到壳体的壁上器官，从而提供可靠性和移动更快。

6. 发明授权

US07298452B2 Patterning apparatus and method for fabricating continuous pattern using the same 有权
标题翻译：用于制造使用其的连续图案的图案化装置和方法
公开(公告)号：US07298452B2
公开(公告)日：2007-11-20
申请号：US10992335
申请日：2004-11-19
申请人： Suk-Ho Park , Young-Jun Choi , Hyeon-Seok Oh , Jae-Ha Lim , Suk-Won Jung
发明人： Suk-Ho Park , Young-Jun Choi , Hyeon-Seok Oh , Jae-Ha Lim , Suk-Won Jung
IPC分类号： G03B27/62 , G03B27/58
CPC分类号： G03F7/70791 , G03F7/0005 , G03F7/201 , G03F7/2035 , G03F7/24
摘要： A flexible substrate, which has a photosensitive agent applied thereon, is continuously supplied from a supply unit to a guide unit where light is irradiated from a light source on a section of the substrate. A mask is positioned between the substrate and the light source so that the light from the light source selectively subjects the section of the substrate to exposure. Hence, it is possible to form a pattern having a continuous slanted structure for a large-area display panel.
摘要翻译：在其上施加有感光剂的柔性基板从供给单元连续供给到在基板的一部分上从光源照射光的引导单元。掩模位于基板和光源之间，使得来自光源的光选择性地使基板的部分受到曝光。因此，可以形成具有用于大面积显示面板的连续倾斜结构的图案。

7. 发明申请

US20070141647A1 Hybrid bio actuator and method of manufacturing the same using 3-dimensional micro molding aligner 有权
标题翻译：混合生物致动器及其制造方法采用三维微型成型机
公开(公告)号：US20070141647A1
公开(公告)日：2007-06-21
申请号：US11512356
申请日：2006-08-30
申请人： Suk-ho Park , Jin-seok Kim , Jung-yul Park , Duk-moon Rho , Byung-kyu Kim
发明人： Suk-ho Park , Jin-seok Kim , Jung-yul Park , Duk-moon Rho , Byung-kyu Kim
IPC分类号： G01N33/567 , B28B3/00
CPC分类号： B29C43/36 , B29C33/303 , C12M35/04 , C12N5/0658
摘要： A hybrid bio actuator and a manufacturing method thereof using a 3-dimensional micro molding aligning apparatus are provided. The manufacturing method has the steps of: 3-dimensionally forming an actuator body with polymer using the micro molding aligning apparatus; and transplanting and cultivating the muscular cell onto the actuator body. The step of forming the actuator body comprise: preparing the upper and lower half molds corresponding to an outer contour of the actuator; installing, on the mold plate unit, the upper and lower half molds opposite to each other and placing a mass of polymer above the lower half mold; aligning the lower half mold with the upper half mold using the aligner unit; pressing the mold plate unit using the clamp unit; solidifying the polymer; and removing the solidified polymer, thereby providing the hybrid bio actuator made of a biomaterial compatible with the human body and capable of operating without a separate battery or external energy source.
摘要翻译：提供了一种使用三维微型成型对准装置的混合生物致动器及其制造方法。该制造方法具有以下步骤：使用微型成型对准装置三维地形成具有聚合物的致动器主体; 并将肌肉细胞移植并培养到致动器主体上。形成致动器主体的步骤包括：准备对应于致动器的外轮廓的上半模和下半模; 在模板单元上安装相互相对的上半模和下半模，并将一组聚合物放在下半模的上方; 使用对准器单元将下半模与上半模对准; 使用夹具单元按压模板单元; 固化聚合物; 并除去固化的聚合物，从而提供由与人体相容的生物材料制成的并且能够在没有单独的电池或外部能源的情况下操作的混合生物致动器。

8. 发明授权

US08862205B2 Therapeutic microrobot system for brain and spinal cord diseases 有权
标题翻译：脑和脊髓疾病的治疗性微机器人系统
公开(公告)号：US08862205B2
公开(公告)日：2014-10-14
申请号：US13696720
申请日：2012-04-05
申请人： Suk Ho Park , Jong Oh Park , Kyoung Rae Cha
发明人： Suk Ho Park , Jong Oh Park , Kyoung Rae Cha
IPC分类号： A61B6/00 , A61B19/00 , A61B6/12 , A61B6/03
CPC分类号： A61B6/12 , A61B6/037 , A61B6/466 , A61B6/481 , A61B6/504 , A61B34/10 , A61B34/30 , A61B34/70 , A61B34/72 , A61B34/73 , A61B2090/376
摘要： Disclosed is a microrobot for the therapy of brain/spinal cord diseases. It comprises a microrobot comprising a driving unit having a magnet therein, and a therapeutic means or drug delivery means for treating a disease lesion; a microrobot driving module for performing and controlling various motions of the microrobot by generating an electromagnetic force through an electromagnetic coil system; an imaging module for imaging a thecal sac filled with cerebrospinal fluid, a ventricle, and the microrobot; a diagnosis module for diagnosing the brain/spinal cord disease, based on a pre-operative image produced by the imaging module; and a navigation module for planning a moving path for the microrobot, based on the pre-operative image produced by the imaging module and for monitoring the microrobot through an intraoperative image produced by the imaging module.
摘要翻译：公开了用于治疗脑/脊髓疾病的微型机器人。它包括一个包括其中具有磁体的驱动单元的微型机器人，以及用于治疗疾病病变的治疗装置或药物递送装置; 微型驾驶模块，用于通过电磁线圈系统产生电磁力来执行和控制所述微型机身的各种运动; 用于对填充有脑脊液，心室和微型机器的囊囊成像的成像模块; 基于由所述成像模块产生的术前图像的用于诊断脑/脊髓疾病的诊断模块; 以及导航模块，用于基于由所述成像模块产生的所述手术前图像来规划所述微机器的移动路径，并且用于通过所述成像模块产生的术中图像监视所述微机架。

9. 发明申请

US20130060130A1 THERAPEUTIC MICROROBOT SYSTEM FOR BRAIN AND SPINAL CORD DISEASES 有权
标题翻译：用于脑和脊髓疾病的治疗微阵列系统
公开(公告)号：US20130060130A1
公开(公告)日：2013-03-07
申请号：US13696720
申请日：2012-04-05
申请人： Suk Ho Park , Jong Oh Park , Kyoung Rae Cha
发明人： Suk Ho Park , Jong Oh Park , Kyoung Rae Cha
IPC分类号： A61B6/00
CPC分类号： A61B6/12 , A61B6/037 , A61B6/466 , A61B6/481 , A61B6/504 , A61B34/10 , A61B34/30 , A61B34/70 , A61B34/72 , A61B34/73 , A61B2090/376
摘要： Disclosed is a microrobot for the therapy of brain/spinal cord diseases. It comprises a microrobot comprising a driving unit having a magnet therein, and a therapeutic means or drug delivery means for treating a disease lesion; a microrobot driving module for performing and controlling various motions of the microrobot by generating an electromagnetic force through an electromagnetic coil system; an imaging module for imaging a thecal sac filled with cerebrospinal fluid, a ventricle, and the microrobot; a diagnosis module for diagnosing the brain/spinal cord disease, based on a pre-operative image produced by the imaging module; and a navigation module for planning a moving path for the microrobot, based on the pre-operative image produced by the imaging module and for monitoring the microrobot through an intraoperative image produced by the imaging module.
摘要翻译：公开了用于治疗脑/脊髓疾病的微型机器人。它包括一个包括其中具有磁体的驱动单元的微型机器人，以及用于治疗疾病病变的治疗装置或药物递送装置; 微型驾驶模块，用于通过电磁线圈系统产生电磁力来执行和控制所述微型机身的各种运动; 用于对填充有脑脊液，心室和微型机器的囊囊成像的成像模块; 基于由所述成像模块产生的术前图像的用于诊断脑/脊髓疾病的诊断模块; 以及导航模块，用于基于由所述成像模块产生的所述手术前图像来规划所述微机器的移动路径，并且用于通过所述成像模块产生的术中图像监视所述微机架。

10. 发明申请

US20120191192A1 IMAGE-BASED PATIENT-SPECIFIC MEDICAL SPINAL SURGERY METHOD AND SPINAL PROSTHESIS 有权
标题翻译：基于图像的患者特异性医疗脊柱手术方法和脊柱前凸
公开(公告)号：US20120191192A1
公开(公告)日：2012-07-26
申请号：US13499612
申请日：2009-12-09
申请人： Suk Ho Park , Jong Oh Park
发明人： Suk Ho Park , Jong Oh Park
IPC分类号： A61F2/44
CPC分类号： A61B17/7062 , A61B17/7065 , A61B90/361 , A61B90/37 , A61F2/44
摘要： The present invention relates to an image-based, patient-specific medical spinal surgery technique and to a spinal prosthesis to the surgery, and particularly, to an image-based, patient-specific medical spinal surgery technique and to a spinal prosthesis which are intended to solve a problem of damage to a spine caused by installing a spinal prosthesis used in spinal surgery, by introducing an image of a patient to manufacture an insertable spinal prosthesis that is customized for a shape of a spine of an individual patient in a polymer-based material.
摘要翻译：本发明涉及一种基于图像的患者特异性医疗脊柱手术技术和涉及手术的脊柱假体，特别涉及一种基于图像的患者特异性医疗脊柱手术技术和旨在用于脊柱假体的脊柱假体通过引入患者的图像来制造针对个体患者的脊柱形状而定制的可插入的脊椎假体，从而解决由脊柱外科手术中使用的脊椎假体安装引起的对脊柱损伤的问题，基材料。

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