Magnetic driving system

Abstract

A magnetic driving system according to the present disclosure comprises: a bed; a first magnetic generator installed on one side of the bed; a second magnetic generator installed on the rear surface of the bed; an imaging device connected to the first and second magnetic generators; and a controller for controlling the first and second magnetic generators and the imaging device.

Description

magnetic drive system

[0001] The present disclosure relates to a magnetic drive system that can be used in medical equipment.

[0002]

[0003] Recently, medical devices utilizing microrobots and electromagnetic devices are being used in the medical field. These microrobots are small, implanted inside the body, and require fine adjustments from outside. To achieve this, electromagnetic devices capable of fine adjustments are used to operate microrobots and other devices.

[0004] Conventional electromagnetic field devices used in medical equipment have utilized electromagnetic coils. These coils generate excessive heat, making them unsuitable for long-term use in medical devices. Furthermore, controlling the direction of the magnetic field or the magnitude of the magnetic force, which are essential for medical devices requiring precise control, has been difficult.

[0005] Additionally, the mechanical movement of the electromagnetic coil operating in real time significantly limits the operator's access to the patient, and the poor compatibility with medical imaging systems such as X-RAY systems severely limits the angles at which imaging can be performed.

[0006] Prior literature includes Japanese Publication No. 2021-522960 (published on September 2, 2021).

[0007]

[0008] According to one aspect of the present disclosure, a magnetic drive device and a system using the same can provide a magnetic drive system capable of effectively controlling the direction and strength of a magnetic field.

[0009]

[0010] A magnetic drive system according to the present disclosure may include a magnetic drive system including: a bed; a first magnetic generator installed on the back surface of the bed; a second magnetic generator installed on one side of the bed; an imaging device connected to the first and second magnetic generators; and a control unit that controls the first and second magnetic generators and the imaging device.

[0011] A magnetic drive system according to the present disclosure may include a magnetic drive system including: a bed; a first magnetic generator installed on the back surface of the bed; second magnetic generators installed on both sides of the bed; an imaging device connected to the first and second magnetic generators; and a control unit that controls the first and second magnetic generators and the imaging device.

[0012] The magnetic drive system according to the present disclosure includes a first magnetic generating unit including a first magnetic coil having a first coil tip formed at one end and wound around a coil, and at least two of the first magnetic coils can be connected to a magnetic yoke at the other end of the first magnetic coil.

[0013] The magnetic drive system according to the present disclosure can place at least two of the first magnetic generating units on the back surface of the bed so that the first coil tips face each other.

[0014] The magnetic drive system according to the present disclosure may form a protrusion such that the tip of the first coil faces the bed.

[0015] The magnetic drive system according to the present disclosure may have the first coil tip form a protrusion facing the bed, but may be inclined at a predetermined angle in the direction of the bed.

[0016] The magnetic drive system according to the present disclosure has a first coil tip whose end can be bent to face the bed.

[0017] The magnetic drive system according to the present disclosure may include a second magnetic coil having second coil tips formed at both ends and wound around the coil, wherein the second magnetic generating unit is formed at both ends.

[0018] The magnetic drive system according to the present disclosure may form a protrusion such that both ends of the second coil tip face the bed.

[0019] The magnetic drive system according to the present disclosure has the second coil tip capable of bending at both ends so as to face the bed.

[0020] The magnetic drive system according to the present disclosure may have a plurality of second magnetic generating units.

[0021] The magnetic drive system according to the present disclosure may have at least two first magnetic generating units that extend the magnetic yoke and are connected to each other.

[0022] In the magnetic drive system according to the present disclosure, the first magnetic generating unit and the second magnetic generating unit can be connected to each other by a magnetic yoke.

[0023] In the magnetic drive system according to the present disclosure, the cross-section of the first magnetic coil may be circular or square.

[0024] In the magnetic drive system according to the present disclosure, the cross-section of the second magnetic coil may be circular or square.

[0025]

[0026] The magnetic drive system according to the present disclosure has the effect of efficiently controlling the direction and strength of the magnetic field from the magnetic generating unit by pointing the magnetic coil tip provided in the magnetic coil toward the bed on which the patient is lying.

[0027] Additionally, it has the effect of enabling safe procedures for both practitioners and patients using medical equipment by eliminating driving elements that limit space utilization.

[0028]

[0029] Figure 1 is a conceptual diagram of a magnetic drive system according to the present disclosure.

[0030] FIG. 2 is a drawing separately illustrating the first and second magnetic generating units according to one embodiment of the magnetic driving system according to the present disclosure.

[0031] Figure 3 is a side view of the bed and the first and second magnetic generating units in Figure 1.

[0032] FIG. 4 is a side view of an embodiment of a first magnetic generating unit of a magnetic driving system according to the present disclosure.

[0033] FIG. 5 is a perspective view of another embodiment of a first magnetic generating unit of a magnetic driving system according to the present disclosure.

[0034] FIG. 6 is a perspective view of another embodiment of a first magnetic generating unit of a magnetic driving system according to the present disclosure.

[0035] FIG. 7 is a perspective view of a second magnetic generating unit according to another embodiment of a magnetic driving system according to the present disclosure.

[0036] Figures 8 to 10 are perspective views showing other embodiments of the second magnetic generating unit.

[0037] Figures 11 to 14 are diagrams showing simulation results for magnetic fields generated by other magnetic drive systems in the present disclosure.

[0038] [Explanation of symbols]

[0039] 100: Bed

[0040] 200: First magnetic generator

[0041] 210: First magnetic coil

[0042] 211: Coil

[0043] 212: First coil tip

[0044] 2121: Protrusion

[0045] 220: Magnetic yoke

[0046] 300: Second magnetic generator

[0047] 310: Second magnetic coil

[0048] 311: Coil

[0049] 312: Second coil tip

[0050] 3121: Protrusion

[0051] 400: Video device

[0052] 500: Control Unit

[0053]

[0054] Hereinafter, specific embodiments of the present disclosure will be described in detail with reference to the drawings.

[0055] In addition, when explaining the present disclosure, if it is determined that a detailed description of a related public notice configuration or function may obscure the gist of the present invention, the detailed description is omitted.

[0056]

[0057] Referring to FIG. 1, the magnetic drive system according to the present disclosure can be configured to include a bed (100), a first magnetic generating unit (200), a second magnetic generating unit (300), an imaging device (400), and a control unit (500).

[0058] The bed (100) is a magnetic robot using a first magnetic generating unit (200) and a second magnetic generating unit (300), and is used for treating or examining a patient (10) by having the patient (10) lie down or sit.

[0059] The first and second magnetic generating units (200, 300) are installed on the bed (100). The first magnetic generating unit (200) can be installed on one side of the bed (100), and the second magnetic generating unit (300) can be installed on the back surface of the bed (100). The arrangement positions of the first and second magnetic generating units (200, 300) are such that interference with the imaging device (400), etc. can be avoided.

[0060] The imaging device (400) is connected to the first and second magnetic generators (200, 300). The imaging device (400) is a device such as a monitor or display, and is used to check the location of the magnetic robot and the lesion or the treatment process in real time. At this time, the imaging device (400) can also track the location of the magnetic robot in real time.

[0061] The control device (500) is connected to the first and second magnetic generating units (200, 300) and the imaging device (400) and controls each of them. The control device (500) includes a computer device, etc. For example, the imaging device (400) and the control device (500) may be configured as a single device.

[0062] The video device (400) and the control device (500) may be general medical equipment used in hospitals, and there are no restrictions as long as they can be connected to the first and second magnetic generators (200, 300).

[0063] Figure 2 shows only the first and second magnetic generating units (200, 300) with the bed (100) removed from Figure 1.

[0064] Referring to FIG. 2, a first magnetic generating unit (200) according to one embodiment includes a first magnetic coil (210) and may be composed of at least two first magnetic coils (210).

[0065] The first magnetic coil (210) is wound around a coil (211) to generate a magnetic force by flowing a current. The first magnetic coil (210) forms a first coil tip (212) at one end. At least two first magnetic coils (210) can be connected to a magnetic yoke (220) at the other end of the first magnetic coil (210).

[0066] In the first magnetic generating unit (200), each first magnetic coil (210) can be arranged so that the first core tip (212) faces the same direction. At least two first magnetic coils (210) can be positioned on the same plane (zy plane based on FIG. 2).

[0067] The magnetic yoke (220) is a configuration for reinforcing the magnetic field of the first magnetic coil (210) and is made of the same material as the first magnetic coil (210). The magnetic yoke (220) can reinforce the magnetic field in the y-axis direction based on FIG. 2.

[0068] Referring to FIG. 3, at least two first magnetic generating units (200) according to one embodiment may be placed on the back of the bed (100). One may be placed on the upper side of the back of the bed (100) so as to be at the head of the patient (10), and the other may be placed on the lower side of the back of the bed (100) so as to be at the lower body of the patient (10). At this time, at least two first magnetic generating units (200) may be placed so that their first coil tips (212) face each other.

[0069] In one embodiment of the first coil tip (212), the first coil tip (212) may form a protrusion (2121) such that the end thereof faces the bed (100). The protrusion (2121) may protrude in a direction toward the bed (100) such that the first coil tip (212) points toward the affected area of ​​the patient (10). With reference to FIG. 3, the protrusion (2121) may face the z-axis direction.

[0070] Referring to FIG. 4 as another embodiment of the first coil tip (212), the first coil tip (212) may form a protrusion (2121) facing the bed (100), and may be inclined at a predetermined angle (θ) toward the bed (100). The angle (θ) is an angle formed between the direction of the bed (100) (the z-axis direction in FIG. 4) and the direction parallel to the bed (100) (the x-axis direction in FIG. 4). It is preferable that the angle (θ) be formed to have an acute angle.

[0071] Additionally, the first coil tip (212) can be formed in another embodiment so that the end is bent and faces the bed (100).

[0072] Referring to FIG. 2, the second magnetic generating unit (300) includes a second magnetic coil (310) formed with second coil tips (312) on both sides and wound around the coil.

[0073] The second magnetic generating unit (300) can be placed on one side of the patient (10) as shown in FIGS. 1 and 3. The second magnetic generating unit (300) can be installed on one side of the bed (100) so as to be positioned on the side of the patient (10) lying on the bed (100).

[0074] At this time, the second coil tip (312) of the second magnetic generating unit (300) can be formed at both ends of the second magnetic coil (310). The second coil tip (312) can be formed at both ends of the second magnetic coil (310) so that the direction of the magnetic field is directed toward the patient (10).

[0075] One embodiment of the second magnetic generating unit (300) can be as follows: Referring to FIG. 5, the second coil tip (312) can form protrusions (3121) such that both ends thereof face the bed (100). The second coil tip (312) can form protrusions (3121) at both ends such that the protrusions (3121) can point to a patient (10) lying on the bed (100). Referring to FIGS. 1 and 2 together, the protrusions (3121) can protrude in a direction toward the bed (100) such that the second coil tip (312) points to the affected area of ​​the patient (10). With reference to FIG. 3, the protrusions (3121) can face the y-axis direction.

[0076] Another embodiment of the second magnetic generating unit (300) is shown in Fig. 6. The second coil tip (312) can be bent at both ends to face the bed (100). The second coil tip (312) can be formed by bending toward the y-axis direction with reference to Fig. 6. The entire surface of the second coil tip (312) faces the y-axis direction.

[0077] When the second magnetic generating unit (300) is installed only on one side of the bed (100), the strength of the magnetic field in the x-axis direction can be strengthened. In addition, by leaving the other side of the bed (100) empty, it can be easier for the operator to approach the patient.

[0078] Referring to FIG. 7, at least two first magnetic generating units (200) can be connected to each other by extending a magnetic yoke (220). At least two first magnetic generating units (200) can be connected to the magnetic yoke (220) to generate a strong magnetic field.

[0079] Referring to Fig. 8, the second magnetic generating units (300) can be installed on both sides of the bed (100). At least two second magnetic generating units (300) can be installed facing each other on both sides of the bed (100). At this time, the second coil tips (312) of different second magnetic generating units (300) can be arranged to face each other.

[0080] When the second magnetic generating unit (300) is installed on both sides of the bed (100), the strength of the magnetic field can be strengthened in the x-axis and y-axis directions. If a strong magnetic field is required, the above arrangement may be necessary.

[0081] Referring to FIGS. 9 and 10, a plurality of second magnetic generating units (300) may be provided. Even when the second magnetic generating units (300) are installed on only one side of the bed (100) as illustrated in FIG. 9, a plurality of second magnetic generating units (300) may be arranged. The same applies when the second magnetic generating units (300) are installed on both sides as illustrated in FIG. 10.

[0082] Referring to Fig. 11, the first magnetic generating unit (200) and the second magnetic generating unit (300) can be connected by a magnetic yoke (220).

[0083] The cross sections of the first magnetic coil (210) and the second magnetic coil (310) in the first magnetic generating unit (200) and the second magnetic generating unit (300) may have a circular or square shape.

[0084] Figures 12 to 14 show the magnetic field strength of the above-described embodiments.

[0085] Referring to Fig. 8, it can be seen that the strength of the magnetic field can be changed depending on the direction pointed by the first magnetic coil tip (212) or the second magnetic coil tip (212, 312). (Hereinafter, the description will be based on the first magnetic coil tip (212).) Reference numeral 11 is a diagram of the affected area of ​​a patient. As can be seen from the graph on the right, when the first magnetic coil tip (212) is bent in the direction pointing toward the affected area (11), it can be seen that a stronger magnetic field is generated toward the affected area (11).

[0086] Figure 9 shows a configuration in which two first magnetic coil tips (212) are directed toward the affected area (11). It can be seen that by configuring the first magnetic coil tips (212) to point toward the affected area (11), a strong and uniform magnetic field can be generated in the affected area (11).

[0087] Fig. 10 shows a configuration in which the second magnetic coil tips (312) at both ends of the second magnetic generating unit (300) are directed toward the affected area (11). It can be seen that by configuring the second magnetic coil tips (312) to point toward the affected area (11), a strong and uniform magnetic field can be generated in the affected area (11).

[0088]

[0089] Although the magnetic drive device using a permanent magnet and the system using the same according to the embodiments of the present invention have been described in specific embodiments, these are merely examples, and the present invention is not limited thereto, and should be construed as having the broadest scope in accordance with the basic idea disclosed in this specification. Those skilled in the art may implement embodiments not specified by combining or replacing the disclosed embodiments, but this also does not exceed the scope of the present invention. In addition, those skilled in the art may easily change or modify the disclosed embodiments based on this specification, and it is clear that such changes or modifications also fall within the scope of the present invention.

Claims

1. Bed; A first magnetic generating unit installed on the back of the above bed; A second magnetic generating unit installed on one side of the above bed; A video device connected to the first and second magnetic generating units; and A control unit that controls the first and second magnetic generating units and the image device; Self-propelled system.

2. Bed; A first magnetic generating unit installed on the back of the above bed; A second magnetic generating unit installed on both sides of the above bed; A video device connected to the first and second magnetic generating units; and A control unit that controls the first and second magnetic generating units and the image device; Self-propelled system.

3. In paragraph 1, The above first magnetic generating unit is, A first magnetic coil formed by forming a first coil tip and winding a coil, wherein at least two of the first magnetic coils are connected to a magnetic yoke on the other side of the first magnetic coil. Self-propelled system.

4. In paragraph 3, At least two of the first magnetic generating units are arranged on the back of the bed so that the first coil tips face each other. Self-propelled system.

5. In paragraph 3, The first coil tip forms a protrusion with its end facing the bed, Self-propelled system.

6. In paragraph 3, The first coil tip forms a protrusion facing the bed, but is inclined at a predetermined angle in the direction of the bed. Self-propelled system.

7. In paragraph 3, The first coil tip has a tip that is bent and faces the bed. Self-propelled system.

8. In paragraph 1 or 2, The above second magnetic generating unit is, A second magnetic coil formed at both ends and having a second coil tip and a second coil wound around the coil, Self-propelled system.

9. In paragraph 8, The second coil tip forms a protrusion with both ends facing the bed, Self-propelled system.

10. In paragraph 8, The second coil tip is bent at both ends toward the bed. Self-propelled system.

11. In paragraph 8, The above second magnetic generating unit is provided with a plurality of Self-propelled system.

12. In paragraph 4, At least two first magnetic generating units are connected to each other by extending the magnetic yoke, Self-propelled system.

13. In paragraph 1 or 2, The first magnetic generating unit and the second magnetic generating unit are connected to each other by a magnetic yoke. Self-propelled system.

14. In paragraph 3, The cross-section of the first magnetic coil is circular or square in shape. Self-propelled system.

15. In paragraph 8, The cross-section of the second magnetic coil is circular or square in shape. Self-propelled system.

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