Microrobot driving device capable of selective magnetic field control

Abstract

The present invention comprises: a single permanent magnet magnetized in the radial direction; a magnetic material unit disposed to surround the outer circumferential surface of the permanent magnet and including a first magnetic material and a second magnetic material located in the main direction and the opposite direction, respectively, and a third magnetic material and a fourth magnetic material located on both sides thereof; and a rotating unit for controlling a magnetic field by rotating the permanent magnet by 90 degrees.

Description

Microrobot actuator capable of selective magnetic field control

[0001] The present invention was carried out under the support of the Ministry of Trade, Industry and Energy under project number 1415180101 and sub-project number 20017903, the research management agency for the above project is the Korea Institute for Industrial Technology Evaluation and Management, the research project name is "Bio-industry Technology Development," the research task name is "Development of a convergence medical device for active precision delivery of embolization particles for transarterial chemoembolization for liver tumor treatment and a simulator for embolization training," the lead organization is the Korea Institute of Micro Medical Robots, and the research period is from January 1, 2025 to December 31, 2025.

[0002] In addition, the present invention was carried out under the support of the Ministry of Health and Welfare under project unique number 1465041559 and sub-project number RS-2023-00302146, the research management agency for the above project is the Korea Health Industry Development Institute, the research project name is "Development of Medical Products Based on Micro Medical Robots", the research task name is "Research on the Advancement of Integrated Technology for Electromagnetic Drive Modules for Autonomous Targeting of Micro Medical Robots", the lead organization is the Korea Micro Medical Robot Research Institute, and the research period is January 1, 2025 – December 31, 2025.

[0003] This patent application claims priority to Korean Patent Application No. 10-2024-0163103 filed with the Korean Intellectual Property Office on November 15, 2024, the disclosures of said patent application are incorporated herein by reference.

[0004] The present invention relates to a microrobot actuator capable of selective magnetic field control, and more particularly to a microrobot actuator capable of selective magnetic field control that implements a magnetic field shielding function of an external magnetic field actuator for operating a magnetically supported microrobot within the human body.

[0005] Microrobots are advanced medical devices that can be utilized for various medical purposes within the human body, and an external magnetic field actuator is essential for their operation. Generally, depending on the application environment and purpose, the external magnetic field actuator is configured to use permanent magnets or electromagnets alone, or in a form that integrates both.

[0006] For external magnetic field actuators to be effectively utilized in actual medical environments, magnetic field interference or interaction with surrounding medical equipment must be minimized. There are two main conventional approaches to this. The first involves installing magnetic shielding around the device, excluding the main driving area, to prevent the magnetic field from leaking out. The second method prevents leakage by confining the magnetic field in a closed-loop form, achieved by placing magnetic material externally and two magnets with opposite polarities internally.

[0007] However, these conventional technologies have the following limitations. First, most conventional technologies focus simply on the attachment or detachment of magnetic fields to iron plates rather than external driving using magnetic fields. Additionally, since the magnets are arranged horizontally, the magnetic field strength in the main direction is relatively weak, and the magnetic field generation area is limited. The method using two magnets performs magnetic field generation or shielding functions by positioning the N and S poles identically or differently, but there is a problem in that rotational operation of the magnets is difficult due to the strong attractive force between them.

[0008] Due to these issues, conventional magnetic field actuators exhibit limitations in the effective control of microrobots. In particular, major limitations are pointed out, such as the weak magnetic field strength and narrow generation area, as well as the reduced stability and usability caused by the large forces generated when selectively switching between magnetic field generation and shielding functions.

[0009] Against this backdrop, there is a need to develop a new type of magnetic field actuator capable of generating a stronger and wider magnetic field for the effective control of microrobots, while simultaneously allowing the user to control the magnetic field stably and easily.

[0010] The present invention aims to provide a microrobot actuator capable of selective magnetic field control that can amplify the magnetic field strength in the main direction and generate a uniform magnetic field over a wider area.

[0011] To achieve the above objective, the present invention is characterized by comprising: a single permanent magnet magnetized in the radial direction; a magnetic material part arranged to surround the outer surface of the permanent magnet and including a first magnetic material and a second magnetic material located in the main direction and the opposite direction, respectively, and a third magnetic material and a fourth magnetic material located on both sides; and a rotating part that controls the magnetic field by rotating the permanent magnet by 90 degrees.

[0012] Preferably, the width of the first magnetic material and the second magnetic material may be larger than the width of the third magnetic material and the fourth magnetic material.

[0013] Preferably, the inner shape of the first magnetic material and the second magnetic material may have a curvature identical to the outer surface curvature of the permanent magnet.

[0014] Preferably, the permanent magnet may have a plurality of balls arranged at regular intervals on its outer surface.

[0015] Preferably, the balls may be arranged at equal intervals around the rotation axis of the permanent magnet.

[0016] Preferably, the rotating part may include a handle coupled with the permanent magnet; and a plurality of latches arranged at 90-degree intervals to fix the rotational position of the handle.

[0017] Preferably, a groove is formed on the inner side of the handle, and a spring and a fixing part that engage with the groove may be provided on the upper side of the permanent magnet.

[0018] Preferably, the third magnetic material and the fourth magnetic material may be formed as a C-shaped integrated structure.

[0019] Preferably, the micro-robot actuator can be selectively driven in either a magnetic field generation mode in which the N or S pole of the permanent magnet is arranged parallel to the main direction, or a magnetic field shielding mode in which the N and S poles of the permanent magnet are perpendicular to the main direction.

[0020] Preferably, the device may further include a housing formed of an insulating material that accommodates the magnetic material part.

[0021] The present invention has the advantage of significantly improving the driving performance of microrobots by amplifying the magnetic field in the main direction through a single permanent magnet and an optimized arrangement of magnetic materials to generate a strong magnetic field over a wide area.

[0022] In addition, the present invention has the advantage of being able to effectively block the generation of magnetic fields in all directions in magnetic field shielding mode, and to effectively shield magnetic fields in peripheral directions excluding the main direction even in magnetic field generation mode.

[0023] Figure 1 shows a configuration diagram of a micro-robot driving device according to an embodiment of the present invention.

[0024] FIG. 2 shows a cross-sectional view of a micro-robot driving device according to an embodiment of the present invention.

[0025] FIGS. 3A and FIGS. 3B show configuration diagrams of a rotating part according to an embodiment of the present invention.

[0026] FIGS. 4a and 4b show the magnetic field generation mode and magnetic field shielding mode of a microrobot driving device according to an embodiment of the present invention.

[0027] The present invention comprises a single permanent magnet magnetized in the radial direction;

[0028] A magnetic material part comprising a first magnetic material and a second magnetic material positioned in the main direction and the opposite direction, respectively, and a third magnetic material and a fourth magnetic material positioned on both sides, arranged to surround the outer surface of the above-mentioned permanent magnet; and

[0029] A rotating part that controls the magnetic field by rotating the above permanent magnet 90 degrees;

[0030] This relates to a microrobot actuator including

[0031] The present invention will be described in detail below with reference to the contents described in the attached drawings. However, the present invention is not limited or restricted by exemplary embodiments. Identical reference numerals in each drawing indicate components that perform substantially the same function.

[0032] The purpose and effects of the present invention may be naturally understood or become clearer through the following description, and the purpose and effects of the present invention are not limited solely to the description below. Furthermore, in describing the present invention, if it is determined that a detailed description of known technology related to the present invention may unnecessarily obscure the essence of the present invention, such detailed description will be omitted.

[0033] The terms used in this invention are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" are intended to specify the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the description of the invention, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0034] Terms such as "first," "second," etc., may be used to describe various components, but said components should not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component.

[0035] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which this invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this invention.

[0036] In interpreting the components, they are interpreted to include a margin of error even without a separate explicit indication. In the case of descriptions regarding temporal relationships, for example, where the temporal sequence is described using 'after,' 'following,' 'next,' 'before,' etc., cases that are not continuous are included unless 'immediately' or 'directly' is used.

[0037] Hereinafter, the technical configuration of the present invention will be described in detail with reference to the attached drawings.

[0038] FIG. 1 shows a configuration diagram of a micro-robot driving device (10) according to an embodiment of the present invention, and FIG. 2 shows a cross-sectional view of a micro-robot driving device (10) according to an embodiment of the present invention. Referring to FIG. 1 and FIG. 2, the micro-robot driving device (10) may include a permanent magnet (100), a magnetic material part (200), a rotating part (300), and a housing (400).

[0039] The micro-robot drive device (10) maximizes the magnetic field strength by using a single permanent magnet (100) that is magnetized in the radial direction, amplifies the magnetic field in the main direction through the arrangement of optimized magnetic materials, can form a uniform magnetic field over a wide area, and can accurately control the directionality of the magnetic field, thereby overcoming the limitations of existing devices in terms of the efficiency of magnetic field generation.

[0040] The micro-robot drive unit (10) effectively blocks the generation of magnetic fields in all directions in magnetic field shielding mode and minimizes magnetic field leakage in directions other than the main direction in magnetic field generation mode, thereby preventing magnetic field interference with other equipment used in a medical environment. In addition, the micro-robot drive unit (10) enables selective control of the magnetic field so that it can generate a magnetic field only when necessary, thus overcoming the limitations of existing devices in terms of the effectiveness of magnetic field shielding.

[0041] The micro-robot drive device (10) can control the magnetic field on / off with only a 90-degree rotation, can rotate with little force due to the ball bearing structure, can fix the position accurately with a latch system, and can be easily used by anyone with intuitive handle operation, thus overcoming the limitations of existing devices in terms of user convenience.

[0042] The micro-robot drive unit (10) has an optimal spatial arrangement so as not to interfere with each component, and has adopted a structure that is easy to disassemble and assemble so that maintenance is easy when necessary.

[0043] The permanent magnet (100) may be a single permanent magnet (100) that is magnetized in the radial direction. The permanent magnet is a cylindrical permanent magnet in which the N pole and S pole are magnetized in the radial direction and can be coupled to a handle (310) through a spring (312) and a fixing part (313). Four latches (320) are arranged at 90-degree intervals on the upper part of the permanent magnet (100) so that the rotational position of the permanent magnet (100) can be accurately fixed.

[0044] One of the greatest features of the present invention is that it uses a single permanent magnet (100) that is magnetized in the radial direction. Unlike a typical permanent magnet that is magnetized in the axial direction so that the N and S poles are arranged vertically, the permanent magnet (100) used in the present invention is magnetized radially from the center outward. This radial magnetization structure allows the direction of the magnetic field to be completely switched with only a 90-degree rotation, and enables the optimization of interaction with the surrounding magnetic material part (200).

[0045] Radial magnetization forms a magnetic field radially from the center of the magnet outward; based on the cross-section of the magnet, one side is magnetized as the N pole and the opposite side as the S pole, all magnetic domains within the magnet are aligned radially, and the strongest magnetic field is formed at the surface of the magnet.

[0046] The permanent magnet (100) may be equipped with a magnet holder that fixes the permanent magnet (100) and a bearing that enables smooth rotation of the permanent magnet (100).

[0047] A permanent magnet (100) may have a plurality of balls (110) arranged at regular intervals on its outer surface.

[0048] The balls (110) may be arranged at equal intervals around the axis of rotation of the permanent magnet (100). Since the balls (110) are arranged at equal intervals around the axis of rotation of the permanent magnet (100), friction generated when the permanent magnet (100) rotates can be minimized and rotational stability can be ensured. In addition, the balls (110) allow the user to easily rotate the permanent magnet (100) with minimal force.

[0049] The magnetic material section (200) is arranged to surround the outer surface of the permanent magnet (100) and may include a first magnetic material (210) and a second magnetic material (220) located in the main direction and the opposite direction, respectively, and a third magnetic material (230) and a fourth magnetic material (240) located on both sides. The first to fourth magnetic materials constituting the magnetic material section (200) may be made of pure iron.

[0050] The magnetic material part (200) according to the present invention is composed of a total of four magnetic materials, which are a first magnetic material (210) and a second magnetic material (220) located in the main direction and the opposite direction, respectively, and a third magnetic material (230) and a fourth magnetic material (240) located on both sides.

[0051] The width of the first magnetic material (210) and the second magnetic material (220) may be greater than the width of the third magnetic material (230) and the fourth magnetic material (240). This is to maximize the magnetic field strength in the main direction.

[0052] The inner shape of the first magnetic material (210) and the second magnetic material (220) may have a curvature identical to the outer surface curvature of the permanent magnet (100). This structure optimizes the magnetic coupling between the magnetic material and the permanent magnet, thereby improving the efficiency of magnetic field generation and shielding.

[0053] The third magnetic material (230) and the fourth magnetic material (240) can be formed as a C-shaped integrated structure. By being formed as a C-shaped integrated structure, magnetic field leakage to the side can be effectively prevented.

[0054] The rotating part (300) can control the magnetic field by rotating the permanent magnet (100) 90 degrees.

[0055] The rotating part (300) adopts a rigid coupling structure using a spring and a fixed part, thereby ensuring the safety of the magnetic rotation mechanism.

[0056] FIGS. 3a and 3b show configuration diagrams of a rotating part (300) according to an embodiment of the present invention. Referring to FIGS. 3a and 3b, the rotating part (300) may include a handle (310) coupled with a permanent magnet (100) and a plurality of latches (320) arranged at 90-degree intervals to fix the rotational position of the handle (310).

[0057] The handle (310) is directly coupled to the permanent magnet (100), allowing the user to intuitively rotate the permanent magnet (100). The latches (320) are positioned at 90-degree intervals to accurately fix the rotational position of the handle (310), which enables accurate switching between the magnetic field generation mode and the magnetic field shielding mode.

[0058] A groove (311) is formed on the inner side of the handle (310), and a spring (312) and a fixing part (313) that are coupled to the groove (311) may be provided on the upper side of the permanent magnet (100). This spring (312)-fixing part (313) coupling structure prevents play that may occur during rotation, thereby ensuring stable operation, provides a stable mounting force to prevent unintended rotation, and works together with the latch (320) to enable accurate position fixation in each mode.

[0059] The housing (400) accommodates the magnetic material part (200) and may be formed of an insulating material. The housing (400) is formed of an insulating material and can protect internal components from external shocks. The housing (400) can stably accommodate the magnetic material part (200) inside.

[0060] FIGS. 4a and 4b illustrate a magnetic field generation mode and a magnetic field shielding mode of a micro-robot driving device (10) according to an embodiment of the present invention. Referring to FIGS. 4a and 4b, the micro-robot driving device (10) can be selectively driven in either a magnetic field generation mode in which the N pole or S pole of a permanent magnet (100) is arranged parallel to the main direction, or a magnetic field shielding mode in which the N pole and S pole of a permanent magnet (100) are perpendicular to the main direction. In the magnetic field generation mode (ON mode), the micro-robot driving device (10) can drive a micro-robot by forming a magnetic field in front of the device (10), and in the magnetic field shielding mode (OFF mode), the magnetic field is shielded so that it does not leak to the outside.

[0061] Looking more closely at the magnetic field control principles in OFF mode and ON mode, in the magnetic field shielding mode (OFF mode), the magnetic field is induced to circulate internally through the magnetic material part (200) so that it does not leak to the outside. On the other hand, in the magnetic field generation mode (ON mode), the magnetic field is concentrated and emitted toward the main direction (attractive area) in the front, thereby enabling effective driving of the microrobot.

[0062] In the magnetic field generation mode (ON mode), the magnetic field generated from the N pole (or S pole) of the permanent magnet (100) is emitted in the main direction, and the emitted magnetic field is amplified through the first magnetic material (210) and transmitted forward. Additionally, in the magnetic field generation mode (ON mode), the third magnetic material (230) and the fourth magnetic material (240) placed on the side block magnetic field leakage to the side, and the second magnetic material (220) at the rear blocks magnetic field leakage to the rear while simultaneously inducing the magnetic field forward. Due to this structure and mechanism, in the magnetic field generation mode (ON mode), a strong and concentrated magnetic field is formed in the main direction, while simultaneously minimizing magnetic field leakage in other directions.

[0063] On the other hand, in the magnetic field shielding mode (OFF mode), the N and S poles of the permanent magnet (100) are perpendicular to the main direction, and at this time, the magnetic field generated from the N pole of the permanent magnet (100) is transmitted to the third magnetic material (230) on the side. The magnetic field transmitted to the third magnetic material (230) circulates along the C-shaped magnetic material, and the circulated magnetic field forms a closed loop that returns to the S pole. Due to this closed loop structure, magnetic field leakage to the outside is almost prevented.

[0064] Although the present invention has been described in detail above through representative embodiments, those skilled in the art will understand that various modifications can be made to the above-described embodiments within the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the claims set forth below as well as all modifications or variations derived from the claims and equivalent concepts.

[0065] <Explanation of Symbols>

[0066] 10: Microrobot actuator

[0067] 100: Permanent magnet

[0068] 200: Magnetic Materials Section

[0069] 210: First magnetic material

[0070] 220: Second magnetic material

[0071] 230: Third magnetic material

[0072] 240: The Fourth Magnetic Material

[0073] 300: Rotating part

[0074] 310: Handle

[0075] 311: Home

[0076] 312: Spring

[0077] 313: Fixed part

[0078] 320: Latch

[0079] 400: Housing

[0080] The present invention relates to a microrobot actuator capable of selective magnetic field control, and more particularly to a microrobot actuator capable of selective magnetic field control that implements a magnetic field shielding function of an external magnetic field actuator for operating a magnetically supported microrobot within the human body.

Claims

1. A single permanent magnet magnetized in the radial direction; A magnetic material part comprising a first magnetic material and a second magnetic material positioned in the main direction and the opposite direction, respectively, and a third magnetic material and a fourth magnetic material positioned on both sides, arranged to surround the outer surface of the above-mentioned permanent magnet; and A rotating part that controls the magnetic field by rotating the above permanent magnet 90 degrees; A microrobot actuator including 2. In Paragraph 1, A microrobot driving device characterized in that the width of the first magnetic material and the second magnetic material is greater than the width of the third magnetic material and the fourth magnetic material.

3. In Paragraph 1, A micro-robot driving device characterized in that the inner shape of the first magnetic material and the second magnetic material has a curvature identical to the outer surface curvature of the permanent magnet.

4. In Paragraph 1, The above permanent magnet is, A micro-robot driving device characterized by having a plurality of balls arranged at regular intervals on the outer surface.

5. In Paragraph 4, The above ball is, A micro-robot driving device characterized by being arranged at equal intervals around the rotation axis of the above-mentioned permanent magnet.

6. In Paragraph 1, The above rotating part is, A handle combined with the above permanent magnet; and A plurality of latches arranged at 90-degree intervals to fix the rotational position of the handle; A microrobot actuator characterized by including 7. In Paragraph 6, A micro-robot driving device characterized by having a groove formed on the inner side of the handle, and a spring and a fixing part coupled to the groove provided on the upper side of the permanent magnet.

8. In Paragraph 1, The above third magnetic material and fourth magnetic material are, A micro-robot driving device characterized by being composed of a U-shaped integrated structure.

9. In Paragraph 1, The above micro-robot actuator is, A micro-robot actuator characterized by being selectively driven in either a magnetic field generation mode in which the N or S pole of the permanent magnet is arranged parallel to the main direction, or a magnetic field shielding mode in which the N and S poles of the permanent magnet are perpendicular to the main direction.

10. In Paragraph 1, A micro-robot driving device characterized by accommodating the above-mentioned magnetic material part and further including a housing formed of an insulating material.

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