Mobile device for driving microrobot

Abstract

The present invention is characterized by comprising: an electropermanent magnet unit which drives a magnetic object with five degrees of freedom (5 DOF) by generating an electromagnetic field, and recognizes the position of the magnetic object with 5 DOF; a robotic arm which supports the electropermanent magnet unit and fixes or moves same; a hand grip-type controller coupled to the electropermanent magnet unit or the robotic arm and having a button for controlling the robotic arm so as to move the electropermanent magnet unit to a desired position; and a body to which the robotic arm is fixed.

Description

Mobile device for driving microrobots

[0001] The present invention was made under the support of the Ministry of Health and Welfare under the project identification number RS-2023-00302154, and the research management specialized organization of the project is the Korea Health Industry Development Institute, the research project name is "Inter-ministerial Full-cycle Medical Device Research and Development Project", the research project name is "Capsule Endoscopic Mobile Medical Device for Active Image Diagnosis of the Entire Digestive Organ", the main organization is the Korea Micro Medical Robot Research Institute, and the research period is from January 1, 2024 to December 31, 2024.

[0002] The present invention relates to a mobile device for driving a microrobot, and more particularly, to a mobile device for driving a microrobot that can drive a microrobot and recognize its location within a human body.

[0003] Electromagnetic devices are being developed to drive microrobots inside the human body from outside the body. Depending on the purpose of the procedure, wired or wireless microrobots are being utilized. Technologies for controlling the direction and size of magnetic fields and driving microrobots using electromagnetic devices are known or under development.

[0004] Capsule endoscope actuators currently being researched and developed utilize commercially available industrial robot arms, resulting in large volumes and significant weight. Most capsule endoscope actuators utilize dedicated controllers and software for indirect control of the robotic arm and electromagnetic field. While a lightweight robot arm end-effector with a joystick is being developed, these actuators rely solely on spherical permanent magnets to operate the capsule endoscope.

[0005] Capsule endoscope actuators utilizing commercially available industrial robotic arms are difficult to integrate with peripheral devices and produce as a single system. Furthermore, miniaturization and lightweighting are difficult, limiting their practical application in clinical settings. Since medical capsule endoscopy targets the human body, actuators utilizing industrial robots can cause direct harm to the human body even for relatively simple reasons, such as lack of operator experience. Therefore, for safer and more accurate examinations, equipment that allows users to intuitively control a capsule endoscope positioned within the human body is needed.

[0006] Existing capsule endoscope actuators utilizing lightweight robotic arms rely solely on permanent magnets, requiring additional equipment for capsule endoscope positioning. Furthermore, existing equipment for capsule endoscope operation does not implement positioning, passive control, active control, and autonomous operation in a single system.

[0007] Therefore, there is a need for a mobile device for driving microrobots that can solve the above problems.

[0008] 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.

[0009] In addition, the present invention aims to simultaneously perform five-degree-of-freedom electromagnetic field driving and position recognition, and to provide passive driving, remote driving, and autonomous driving.

[0010] In order to achieve the above object, 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.

[0011] Preferably, the electromagnet unit 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).

[0012] Preferably, the electromagnet part 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.

[0013] Preferably, the robotic arm comprises one or more joints and one or more connecting parts, and can freely move the electromagnet part in three dimensions.

[0014] Preferably, at least one of the one or more joints may have a torque sensor for force sensing and a servo motor for driving therein.

[0015] Preferably, 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.

[0016] Preferably, the first joint is provided with a linear stage and a limit sensor, and the first connecting part can be driven in the z-axis direction using the linear stage and the limit sensor to adjust the height of the electromagnet part.

[0017] Preferably, the second joint and the third joint can be rotated in the z-axis direction, and the fourth joint and the fifth joint can be rotated in the z-axis direction or the y-axis direction.

[0018] Preferably, when force is applied to the hand grip type controller, 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.

[0019] Preferably, the device further includes a control unit that controls the movement of the robotic arm and the magnetic field of the electromagnet unit, wherein the control unit can perform an operation 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.

[0020] Preferably, the method further comprises a control unit for controlling the movement of the robotic arm and the magnetic field of the electromagnet unit, wherein the control unit can 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 unit, an operation of moving the robotic arm to place the electromagnet unit at a desired location to move the magnetic object along the optimal path, 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.

[0021] 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 devices using existing industrial robot arms, and being suitable for use in actual medical settings.

[0022] In addition, 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.

[0023] Figure 1 shows a configuration diagram of a mobile device for driving a microrobot according to an embodiment of the present invention.

[0024] Figures 2 and 3 show a configuration diagram of a permanent magnet unit according to an embodiment of the present invention.

[0025] 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.

[0026] Figure 5 shows a configuration diagram of a robotic arm according to an embodiment of the present invention.

[0027] FIGS. 6A to 6C illustrate drawings for explaining the movement of a robotic arm according to an embodiment of the present invention.

[0028] Figures 7a to 7c illustrate a driving method of a mobile device for driving a microrobot according to an embodiment of the present invention.

[0029] Figures 8a to 8c illustrate drawings for explaining control buttons provided in a handgrip type controller.

[0030] Figure 9 shows the entire operation process of a mobile device for driving a microrobot according to an embodiment of the present invention.

[0031] An electromagnet 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;

[0032] A robotic arm that supports the above-mentioned electromagnet part and fixes or moves the above-mentioned electromagnet part;

[0033] A hand grip type controller coupled to 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; and

[0034] A body to which the above robotic arm is fixed;

[0035] A mobile device for driving a microrobot, comprising:

[0036] Hereinafter, the present invention will be described in detail with reference to the contents described in the attached drawings. However, the present invention is not limited or restricted by the exemplary embodiments. The same reference numerals in each drawing indicate components that perform substantially the same functions.

[0037] The purpose and effects of the present invention can be naturally understood or made clearer by the following description, and the purpose and effects of the present invention are not limited solely by the following description. Furthermore, in describing the present invention, if a detailed description of known technologies related to the present invention is deemed to unnecessarily obscure the gist of the present invention, such detailed description will be omitted.

[0038] The terminology used herein is merely used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprise" or "have" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the description of the invention, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0039] While terms like "first" and "second" may be used to describe various components, these components should not be limited by these terms. These terms are used solely to distinguish one component from another. For example, without departing from the scope of the present invention, a first component could be referred to as a "second component," and similarly, a second component could also be referred to as a "first component."

[0040] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and shall not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0041] When interpreting components, even if there is no explicit description, it is interpreted as including the margin of error. When describing temporal relationships, for example, when temporal continuity is described with phrases such as "after," "following," "next to," or "before," this also includes cases where the relationship is not continuous, unless "immediately" or "directly" is used.

[0042] Hereinafter, the technical configuration of the present invention will be described in detail with reference to the attached drawings.

[0043] Fig. 1 shows a configuration diagram of a mobile device (1000) for driving a microrobot according to an embodiment of the present invention. Referring to Fig. 1, the mobile device (1000) for driving a microrobot may include an electromagnet unit (10), a robotic arm (20), a handgrip type controller (30), a body (40), a monitor (50), a monitor arm (60), and a control unit (not shown).

[0044] The mobile device (1000) for driving a microrobot is a single device that integrates a capsule endoscope driving device and peripheral devices. Compared to driving devices using existing industrial robot arms, it is miniaturized and lightweight, and can be utilized 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.

[0045] The mobile device (1000) for driving a microrobot can use a power-assisted passive driving method that recognizes and drives force 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 has a significantly lower possibility of causing direct harm to the human body compared to an industrial robot arm, thereby enabling safer and more accurate inspections.

[0046] The 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 the intervention of medical staff by integrating with artificial intelligence technology.

[0047] Figures 2 and 3 show a configuration diagram of an electromagnet unit (10) according to an embodiment of the present invention. Referring to Figure 2, an electromagnet unit (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.

[0048] Referring to FIG. 3, 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).

[0049] Meanwhile, the 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). When 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.

[0050] 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.

[0051] 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).

[0052] 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.

[0053] At this time, 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, and 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.

[0054] 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 opposite to each other based on the intersection point (4). For example, as shown in FIG. 3, in the first hybrid electromagnet module (110), 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).

[0055] And, in this case, when the magnetic field directions of the first magnetic body (110) and the second magnetic body (210) are arranged to be opposite to each other based on the intersection point (4), even if no current is applied to the first electromagnet (120) and the second electromagnet (220), the direction of the magnetic field in the region of interest (ROI) can be set to a specific direction using only the permanent magnet.

[0056] 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.

[0057] 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 enamel wire, copper, an enamel copper wire, or an enamel aluminum wire.

[0058] 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.

[0059] In the first hybrid electromagnet module (100) and the second hybrid electromagnet module (200), 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).

[0060] The electromagnet unit (10) can detect the magnetic field generated from the magnetic object (1) using the 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). Here, 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). Here, the position recognition data may mean the strength of the magnetic field, the strength of the 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.

[0061] The electromagnet unit (10) can move freely in three dimensions by the robotic arm (20). Specifically, the electromagnet unit (10) can move up and down in the z-axis direction by driving the first connection unit (22) by the first joint (21). The electromagnet unit (10) can move freely in the x, y plane by rotation of the second joint (23) and the third joint (25) in the z-axis direction. The electromagnet unit (10) can be controlled by rotation of the fourth joint (27) and the fifth joint (29) in the z-axis direction or the y-axis direction. That is, the electromagnet unit (10) can move freely in three dimensions by driving the first to fifth joints, and through this, the magnetic object (1) can be driven or positioned with a five-degree-of-freedom magnetic field.

[0062] The robotic arm (30) supports the electromagnet unit (10) and can fix or move the electromagnet unit (10).

[0063] Figure 4 illustrates the state of a robotic arm (20) according to an embodiment of the present invention before and after being stored in a storage space. Referring to Figure 4, the robotic arm (20) can be stored or loaded into a storage section (43) formed within the body (40). When the robotic arm (20) is not in use, it can be stored or loaded into the storage section (43) to reduce the overall volume.

[0064] Fig. 5 shows a configuration diagram of a robotic arm (20) according to an embodiment of the present invention. Referring to Fig. 5, 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 unit (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 unit (10) can be attached to the end effector of the robotic arm (20).

[0065] At least one of the one or more joints may be equipped with a torque sensor for force sensing and a servo motor for driving. The torque sensor can detect the direction and intensity of the force, and the servo motor is connected to each torque sensor and can operate with an appropriate intensity and direction based on the direction and intensity of the detected force.

[0066] The robotic arm (20) includes first to fifth joints (21, 23, 25, 27, 29), and first to fourth connecting portions (22, 24, 26, 28). The first joint (21) is coupled to the body (40) and the first connecting portion (22), the second joint (23) is coupled to the first connecting portion (22) and the second connecting portion (24), the third joint (25) is coupled to the second connecting portion (24) and the third connecting portion (26), the fourth joint (27) is coupled to the third connecting portion (26) and the fourth connecting portion (28), and the fifth joint (29) can be coupled to the fourth connecting portion (28) and the electromagnet portion (10).

[0067] The first connecting portion (22) and the second connecting portion (24) form a 90-degree angle and can be coupled 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).

[0068] 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 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 operation 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.

[0069] FIGS. 6A to 6C illustrate drawings for explaining the movement of a robotic arm according to an embodiment of the present invention.

[0070] Referring to Fig. 6a, 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. Through this, an environment can be provided in which the electromagnet unit (10) attached to the end of the robotic arm (20) as shown in Fig. 6a can move freely in the x, y plane.

[0071] 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 FIGS. 6b and 6c and control the magnetic field of the electromagnet unit (10).

[0072] When force is applied to the hand grip type controller (30), 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.

[0073] The control unit (not shown) can control the movement of the robotic arm (20) and the magnetic field of the electromagnet unit (10).

[0074] 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.

[0075] Referring to FIG. 7A, a mobile device (1000) for driving a microrobot can be controlled by a passive driving method by a user. In the case of the passive driving method by a user, the user directly holds a hand-grip controller (30) coupled to the end of a robotic arm (20) and moves the electromagnet unit (10) for driving and position recognition of a capsule endoscope to a desired position. When the user applies force to move the position of the electromagnet unit (10), each joint detects the strength and direction of the force from a torque sensor of the joint that is affected according to the direction, and operates a servo motor connected to the torque sensor, thereby performing a power assistance device function that allows the user to manipulate the electromagnet unit (10) to a desired position with little force. Thereafter, the user can obtain real-time 5-degree-of-freedom position recognition data and posture control 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.

[0076] Referring to FIG. 7b, a mobile device (1000) for driving a microrobot can be controlled by a remote control method using a wireless controller. A 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 unit (10) at a desired position, an operation of controlling the magnetic field of the electromagnet unit (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 servo motors 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 unit (10) forward, backward, left, and right.

[0077] Referring to Fig. 7c, a mobile device (1000) for driving a microrobot can be controlled in an autonomous manner that does not require user intervention. A 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 area.

[0078] The control unit (not shown) can perform inspections by moving along a path preset in the software without user intervention, or can autonomously drive the wireless capsule endoscope in combination with artificial intelligence navigation technology.

[0079] The hand grip type controller (30) is coupled with the electromagnet (10) or 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.

[0080] Figures 8a to 8c show drawings for explaining control buttons provided in a hand grip type controller (30).

[0081] Referring to Fig. 8a, a force feedback function On / Off button may be placed on the inside of the grip of the hand grip type controller (30). When moving the hand grip type controller (30), the force feedback function is turned on only when the button is pressed, and the power assistance function is performed only when the force feedback function is turned on, thereby improving safety.

[0082] Referring to FIG. 8b, the ball-type button arranged on one side of the grip of the hand-grip type controller (30) can be used to drive the servo motor located in the fifth joint to rotate the electromagnet unit (10) in the z-Rot direction. At this time, 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 unit (10). In addition, 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 unit (10), and then automatically return to the original motion.

[0083] Referring to Fig. 8c, the grip side of the hand grip type controller (30) is arranged The first joint can be controlled using a button. In the case of the first joint, as with other joints, a torque sensor is built-in. However, if the distance between the electromagnet (10) and the body (40) increases, power transmission in the z-axis direction may become difficult, and thus the power assistance function by the torque sensor may not operate smoothly. Therefore, a separate button is provided to control the servo motor of the first joint to enable z-axis movement.

[0084] Placed on the grip side of the hand grip type controller (30) 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). In addition, the hand grip type controller (30) is arranged on the other side of the grip. The button can be used to switch between passive driving mode and remote control mode depending on the currently selected driving mode. All buttons attached to the handgrip controller (30) can be changed in position and function depending on the situation.

[0085] The body (40) can have a robotic arm (20) fixed thereto. The internal space of the body (40) can accommodate devices necessary for operation, such as a PC, a motor driver, a control circuit, and a power supply unit.

[0086] 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.

[0087] 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 (10). The monitor (50) is connected to a monitor arm (60) so that the angle and height can be adjusted.

[0088] Figure 9 shows the entire operation process of a mobile device (1000) for driving a microrobot according to an embodiment of the present invention.

[0089] Referring to FIG. 9, when the mobile device (1000) for driving a microrobot is used in a passive manner, after the device (1000) is prepared, when power is supplied to the electromagnet unit (10), the control circuit, and the PC, the torque sensor detects the force generated when the user holds the hand-grip controller (30) and moves the electromagnet unit (10) to a desired position, and the torque sensor operates the servo motor connected to the torque sensor to perform a power assistance function. Thereafter, the magnetic field generated from the electromagnet unit (10) is controlled using a button arranged on the hand-grip controller (30) at the target position, and thus the operation of the capsule endoscope and 5-degree-of-freedom position recognition data can be acquired in real time. The user can check the image and position information data wirelessly transmitted from the capsule endoscope in real time through the monitor (50) and proceed with the examination, and when the examination at the corresponding position is completed, the process of moving to the next target position is repeated, thereby enabling the examination of the entire digestive organs.

[0090] When the mobile device (1000) for driving a microrobot uses a remote control method, after preparing the device (1000), when 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. Thereafter, the magnetic field generated from the electromagnet unit (10) is controlled using the wireless controller for remote control at the target location, and thus the driving of the capsule endoscope and 5-degree-of-freedom position recognition data can be acquired in real time. The user can check the image and position information data wirelessly transmitted in real time from the capsule endoscope through a monitor (50) and proceed with the examination, and when the examination at the location is completed, the process of moving to the next target location is repeated, thereby enabling the examination of the entire digestive organs.

[0091] When the mobile device (1000) for driving a microrobot uses an autonomous driving method, after preparing the device (1000), when power is supplied to the electromagnet unit (10), the control circuit, and the PC, 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. After that, without user intervention, the inspection can be performed automatically by performing optimal path estimation and magnetic field control through movement and motion control of the capsule endoscope using image data and 5-degree-of-freedom position recognition data transmitted in real time from the capsule endoscope camera.

[0092] While the present invention has been described in detail through representative examples above, those skilled in the art will understand that various modifications to the above-described embodiments are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined not only by the claims described below but also by all changes or modifications derived from the claims and equivalent concepts.

[0093] [Explanation of symbols]

[0094] 1: Magnetic objects

[0095] 2: Central axis of the first hybrid electromagnet module

[0096] 3: Central axis of the second hybrid electromagnet module

[0097] 4: Intersection 10: Electromagnetic field

[0098] 20: Robotic arm 21: First joint

[0099] 22: First joint 23: Second joint

[0100] 24: Second joint 25: Third joint

[0101] 26: Third joint 27: Fourth joint

[0102] 28: 4th joint 29: 5th joint

[0103] 30: Handgrip controller 40: Body

[0104] 41: Movement module 42: Wheel

[0105] 43: Storage compartment 44: First operation button

[0106] 50: Monitor 60: Monitor Arm

[0107] 100: First hybrid electromagnet module 110: First magnetic body

[0108] 115: First permanent magnet 120: First electromagnet

[0109] 121: First magnetic core 200: Second hybrid electromagnet module

[0110] 210: Second magnetic material 215: Second permanent magnet

[0111] 220: Second electromagnet 221: Second magnetic core

[0112] 300: Frame

[0113] 1000: Mobile device for driving microrobots

[0114] 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.

[0115] In addition, the present invention aims to simultaneously perform five-degree-of-freedom electromagnetic field driving and position recognition, and to provide passive driving, remote driving, and autonomous driving.

Claims

1. A targeting drive and imaging unit having a permanent magnet, one RF signal transmitting coil (Tx coil) and one pair of receiving coils (Rx coils) surrounding the permanent magnet; an electromagnet unit that generates an electromagnetic field to drive a magnetic object in 5 degrees of freedom (5DOF) and recognizes the position of the magnetic object in 5 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; and A body to which the above robotic arm is fixed; A mobile device for driving a microrobot, comprising:

2. In paragraph 1, The above-mentioned electromagnet part is, A mobile device for driving a microrobot that detects a magnetic field generated from a magnetic object using a Hall sensor array module and converts the detected magnetic field into position information using a 5-degree-of-freedom positioning formula (5 DoF Inverse model).

3. In paragraph 1, The above-mentioned electromagnet part is, comprising a first hybrid electromagnet module; and a second hybrid electromagnet module; 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. 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. A mobile device for driving a microrobot, wherein the first hybrid electromagnet module and the second hybrid electromagnet module are arranged so that the central axis of the first hybrid electromagnet module and the central axis of the second hybrid electromagnet module intersect to form an intersection point.

4. In paragraph 1, The above robotic arm, A mobile device for driving a microrobot, comprising one or more joints and one or more connecting parts, which allows the electromagnet part to move freely in three dimensions.

5. In paragraph 1, At least one of the above one or more joints, A mobile device for driving a microrobot, comprising a torque sensor for force sensing and a servo motor for driving inside.

6. In paragraph 5, The above robotic arm, Including the first to fifth joints and the first to fourth connecting portions, A mobile device for driving a microrobot, wherein the first joint is coupled to the body and the first connecting portion, the second joint is coupled to the first connecting portion and the second connecting portion, the third joint is coupled to the second connecting portion and the third connecting portion, the fourth joint is coupled to the third connecting portion and the fourth connecting portion, and the fifth joint is coupled to the fourth connecting portion and the electromagnet portion.

7. In paragraph 6, The above first joint is, A mobile device for driving a microrobot, comprising a linear stage and a limit sensor, and driving 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.

8. In paragraph 6, The second and third joints above, It can rotate in the z-axis direction, The above fourth joint and the above fifth joint, A mobile device for driving a microrobot, which can rotate in the z-axis direction or the y-axis direction.

9. In paragraph 6, The first to fifth joints above are, A mobile device for driving a microrobot, wherein when force is applied to the hand grip type controller, each torque sensor detects the direction and intensity of the force and operates each servo motor connected to each torque sensor.

10. In paragraph 1, Further comprising a control unit for controlling the movement of the robotic arm and the magnetic field of the electromagnet unit; The above control unit, An action to receive a remote control signal transmitted by a user; An action of moving the robotic arm according to the above remote control signal and placing the electromagnet part at a desired location; An operation of controlling the magnetic field of the electromagnet part according to the above remote control signal to control the attitude of the magnetic object, and A mobile device for driving a microrobot, which performs an operation of acquiring magnetic field data for recognizing the position of a magnetic object with five degrees of freedom.

11. In paragraph 1, Further comprising a control unit for controlling the movement of the robotic arm and the magnetic field of the electromagnet unit; The above control unit, An operation of obtaining an optimal path to a target location by using image data transmitted in real time from the magnetic object and 5-degree-of-freedom position recognition data transmitted from the electromagnet section. An operation of moving the robotic arm to place the electromagnet part at a desired location to move the magnetic object along the optimal path and controlling the magnetic field of the electromagnet part to move the magnetic object, and A mobile device for driving a microrobot, wherein the above magnetic object performs an operation of transmitting a notification or image data to a user when an inspection location or lesion area is found.

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