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    • 6. 发明授权
    • Microrobot system for intravascular therapy and method of controlling the same
    • 用于血管内治疗的微型机器人系统及其控制方法
    • US09136051B2
    • 2015-09-15
    • US13697110
    • 2012-06-04
    • Suk Ho ParkJong Oh ParkHyun Chul ChoiKyoung Rae ChaSe Mi Jeong
    • Suk Ho ParkJong Oh ParkHyun Chul ChoiKyoung Rae ChaSe Mi Jeong
    • A61B1/04H01F7/02A61B6/12A61B19/00A61N2/00
    • H01F7/02A61B6/12A61B34/30A61B34/72A61B34/73A61B2017/00345A61B2034/303A61B2090/376A61N2/002
    • 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.
    • 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。
    • 7. 发明授权
    • Actuation control system of a capsule endoscope
    • 胶囊内窥镜的致动控制系统
    • US09089271B2
    • 2015-07-28
    • US13446107
    • 2012-04-13
    • Suk Ho ParkJong Oh ParkHyun Chul ChoiKyung Rae ChaSe Mi Jeong
    • Suk Ho ParkJong Oh ParkHyun Chul ChoiKyung Rae ChaSe Mi Jeong
    • A61B1/04A61B1/00
    • A61B1/041A61B1/00158
    • 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.
    • 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。
    • 8. 发明申请
    • MICROROBOT SYSTEM FOR INTRAVASCULAR THERAPY AND METHOD OF CONTROLLING THE SAME
    • 用于静脉内治疗的微阵列系统及其控制方法
    • US20130072789A1
    • 2013-03-21
    • US13697110
    • 2012-06-04
    • Suk Ho ParkJong Oh ParkHyun Chul ChoiKyoung Rae ChaSe Mi Jeong
    • Suk Ho ParkJong Oh ParkHyun Chul ChoiKyoung Rae ChaSe Mi Jeong
    • H01F7/02A61B6/12
    • H01F7/02A61B6/12A61B34/30A61B34/72A61B34/73A61B2017/00345A61B2034/303A61B2090/376A61N2/002
    • 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.
    • 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。