SYSTEM FOR CONTROLLING MICRO-ROBOT USING TRANSFER ROBOT

• US 20160241121A1
• Filed: 02/16/2016
• Published: 08/18/2016
• Est. Priority Date: 02/17/2015
• Status: Active Grant

• Current Assignee: Daegu Gyeongbuk Institute of Science and Technology (Korea Advanced Institute of Science and Technology)
• Original Assignee: Daegu Gyeongbuk Institute of Science and Technology (Korea Advanced Institute of Science and Technology)
• Inventors: WOO, Seong Yong, CHOI, Hong Soo, KIM, Sang Won
• Granted Patent: US 10,148,162 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/72 Micromanipulators
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: G05B 1/01 electric
• CPC Class Codes: G05B 19/19 characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
• CPC Class Codes: G05B 2219/41355 Electro magnetic coil actuator, voice coil
• CPC Class Codes: G05B 2219/45073 Microrobot
• CPC Class Codes: H02K 21/021 Means for mechanical adjustment of the excitation flux
• CPC Class Codes: H02K 41/031 of the permanent magnet type
• CPC Class Codes: H02K 41/035 DC motors; Unipolar motors
• CPC Class Codes: H02K 41/0352 Unipolar motors

Abstract

Disclosed is a system for performing a control on a micro-robot using a transfer robot. The system includes a magnetic field control unit configured to control a movement of a micro-structure or a micro-robot within a working area according to an output magnetic field, a transfer robot connected to the magnetic field control unit to transfer the working area in space, and a control unit configured to receive position information about the micro-structure or micro-robot and position information about the transfer robot, and transmit a control signal based on the received position information.

Claims

1. A system for controlling a micro-robot using a transfer robot, the system comprising:

a magnetic field control unit configured to control a movement of a micro-structure or a micro-robot within a working area of the system according to a setting value of an output magnetic field;

a transfer robot connected to the magnetic field control unit to transfer the working area in three-dimensional (3D) space; and

a control unit configured to receive position information about the micro-structure or micro-robot and position information about the transfer robot, and transmit a control signal based on the received position information.

2. The system of claim 1, wherein the magnetic field control unit controls the movement of the micro-structure or the micro-robot while interoperating with a magnetic field output unit that is provided with a core, a bobbin, and a coil to output a magnetic field.

3. The system of claim 2, wherein the transfer robot is connected to one end of a driving unit that includes the magnetic field control unit and the magnetic field output unit, to expand the working area by transferring the driving unit in 3D space.

4. The system of claim 3, wherein the transfer robot includes at least one of a linear motion robot, a linear motion robot having a rotation axis, and a multi-joint robot.

5. The system of claim 3, wherein the control unit monitors whether a position of the micro-structure or the micro-robot lies within a preset area in the working area as a result of an operation of the transfer robot, and sends a transfer robot control unit and the magnetic field control unit a control signal regarding movements of the transfer robot and the micro-structure or micro-robot according to a result of the monitoring.

6. The system of claim 5, further comprising an image acquisition unit configured to acquire position information about the micro-structure or the micro-robot.

7. The system of claim 3, wherein the control unit sends the transfer robot a position control signal for the transfer robot according to target space coordinates being input, and if it is identified, as a result of receiving the position information after driving of the transfer robot, that the transfer robot arrives at the target space coordinates, sends the magnetic field control unit a signal informing that a driving preparation is complete.