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1. 发明授权

US08821386B2 Micro robot system and capsule endoscope system for examining a tubular digestive system 有权
标题翻译：微型机器人系统和用于检查管状消化系统的胶囊内窥镜系统
公开(公告)号：US08821386B2
公开(公告)日：2014-09-02
申请号：US13446219
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 , A61B19/00 , A61B1/00
CPC分类号： A61B19/22 , A61B1/00158 , A61B1/041 , A61B34/70 , A61B2034/731
摘要： A micro robot system movable on three dimensional space includes a micro robot unit including a magnet module having a certain magnetization direction and configured to rotate and proceed along a wall by a processional rotating magnetic field, and an electromagnetic field generation unit configured to set an alignment direction of the micro robot unit to have a certain angle with respect to the magnetization direction and configured to generate a magnetic field in the alignment direction to drive the micro robot unit.
摘要翻译：可在三维空间上移动的微型机器人系统包括：微机械手单元，其包括具有一定磁化方向的磁体模块，并且构造成通过旋转磁场沿着壁旋转并行进;以及电磁场产生单元，微型机器人单元的方向相对于磁化方向具有一定角度，并被配置为在对准方向上产生磁场以驱动微型机器人单元。

2. 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。

3. 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。

4. 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。

5. 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。

6. 发明授权

US09089271B2 Actuation control system of a capsule endoscope 有权
标题翻译：胶囊内窥镜的致动控制系统
公开(公告)号：US09089271B2
公开(公告)日：2015-07-28
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 , A61B1/00
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。

7. 发明申请

US20130072789A1 MICROROBOT SYSTEM FOR INTRAVASCULAR THERAPY AND METHOD OF CONTROLLING THE SAME 有权
标题翻译：用于静脉内治疗的微阵列系统及其控制方法
公开(公告)号：US20130072789A1
公开(公告)日：2013-03-21
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： H01F7/02 , A61B6/12
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。

8. 发明申请

US20130053641A1 MICRO ROBOT SYSTEM AND CAPSULE ENDOSCOPE SYSTEM FOR EXAMINING A TUBULAR DIGESTIVE SYSTEM 有权
标题翻译：微型机器人系统和用于检查管状系统的胶囊内窥镜系统
公开(公告)号：US20130053641A1
公开(公告)日：2013-02-28
申请号：US13446219
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 , H04N7/18 , H04N5/225 , H01F7/06
CPC分类号： A61B19/22 , A61B1/00158 , A61B1/041 , A61B34/70 , A61B2034/731
摘要： A micro robot system movable on three dimensional space includes a micro robot unit including a magnet module having a certain magnetization direction and configured to rotate and proceed along a wall by a processional rotating magnetic field, and an electromagnetic field generation unit configured to set an alignment direction of the micro robot unit to have a certain angle with respect to the magnetization direction and configured to generate a magnetic field in the alignment direction to drive the micro robot unit.
摘要翻译：可在三维空间上移动的微型机器人系统包括：微机械手单元，其包括具有一定磁化方向的磁体模块，并且构造成通过旋转磁场沿着壁旋转并行进;以及电磁场产生单元，微型机器人单元的方向相对于磁化方向具有一定角度，并被配置为在对准方向上产生磁场以驱动微型机器人单元。

9. 发明申请

US20110184388A1 BACTERIUM-BASED MICROROBOT FOR MEDICAL TREATMENT, OPERATION METHOD THEREOF AND TREATMENT METHOD USING THE SAME 审中-公开
标题翻译：用于医疗处理的基于细菌的微型机器，其操作方法和使用该方法的处理方法
公开(公告)号：US20110184388A1
公开(公告)日：2011-07-28
申请号：US13058656
申请日：2008-12-30
申请人： Suk Ho Park , Jong Oh Park , Jung Joon Min , Yeong Jin Hong , Dong Il Cho , Jong Mo Seo , Jennifer Hyunjong Shin , Heung Soo Shin , Jung Yul Park
发明人： Suk Ho Park , Jong Oh Park , Jung Joon Min , Yeong Jin Hong , Dong Il Cho , Jong Mo Seo , Jennifer Hyunjong Shin , Heung Soo Shin , Jung Yul Park
IPC分类号： A61M37/00
CPC分类号： A61B5/073 , A61M5/14276 , A61M31/002
摘要： Provided are a bacterium-based microrobot for medical treatment, an operation method thereof, and a treatment method using the same. The bacterium-based microrobot can be propelled by the flagellum movement of bacteria, can be directed toward a target lesion by the ability of bacteria to recognize the lesion, can be monitored for how many the microrobot targets the lesion, and can directly or indirectly treat the lesion by the proliferation of bacteria through self-division in the lesion. The bacteria may be genetically manipulated to be resistant to immune responses and produce a material inhibitory of the growth of affected cells.
摘要翻译：本发明提供一种用于医疗的细菌微型机器人，其操作方法以及使用其的处理方法。基于细菌的微型机器人可以通过细菌的鞭毛运动来推动，可以通过细菌识别病变的能力来指向目标病变，可以监测微型靶区靶点的数量，并且可以直接或间接地治疗病变由细菌的扩散通过自我分裂的病变。细菌可以被遗传操作以抵抗免疫应答并产生抑制受影响细胞生长的物质。

10. 发明授权

US09039772B2 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假体
公开(公告)号：US09039772B2
公开(公告)日：2015-05-26
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 , A61B17/70 , A61B19/00
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 used in 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：本发明涉及基于图像的患者特异性医疗脊柱手术技术和用于手术中的脊椎假体，特别涉及基于图像的患者特异性医疗脊柱手术技术和脊柱假体，其为旨在通过引入患者的图像来制造在聚合物中为个体患者的脊柱形状定制的可插入脊椎假体，来解决由安装脊柱手术中使用的脊椎假体引起的对脊柱损伤的问题的材料。

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