WO2020171408A3 - 단일방향 초음파 트랜스듀서를 이용한 마이크로로봇 구동장치 및 이를 이용한 시스템 - Google Patents

단일방향 초음파 트랜스듀서를 이용한 마이크로로봇 구동장치 및 이를 이용한 시스템 Download PDF

Info

Publication number
WO2020171408A3
WO2020171408A3 PCT/KR2020/001378 KR2020001378W WO2020171408A3 WO 2020171408 A3 WO2020171408 A3 WO 2020171408A3 KR 2020001378 W KR2020001378 W KR 2020001378W WO 2020171408 A3 WO2020171408 A3 WO 2020171408A3
Authority
WO
WIPO (PCT)
Prior art keywords
micro
ultrasonic transducer
operating device
robot operating
same
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2020/001378
Other languages
English (en)
French (fr)
Other versions
WO2020171408A2 (ko
Inventor
김창세
박종오
최은표
강병전
이한솔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Industry Foundation of Chonnam National University
Korea Institute of Medical Microrobotics
Original Assignee
Industry Foundation of Chonnam National University
Korea Institute of Medical Microrobotics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Industry Foundation of Chonnam National University, Korea Institute of Medical Microrobotics filed Critical Industry Foundation of Chonnam National University
Priority to US17/293,556 priority Critical patent/US12138412B2/en
Publication of WO2020171408A2 publication Critical patent/WO2020171408A2/ko
Publication of WO2020171408A3 publication Critical patent/WO2020171408A3/ko
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Program-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M31/00—Devices for introducing or retaining media, e.g. remedies, in cavities of the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/72—Micromanipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J7/00—Micromanipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00345—Micromachines, nanomachines, microsystems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)

Abstract

본 발명의 일 실시예에 따른 초음파 트랜스듀서를 이용한 마이크로로봇 구동시스템은 피검체의 내부를 이동하는 마이크로로봇; 및 상기 마이크로로봇의 위치를 제어하는 마이크로로봇 구동장치;를 포함할 수 있다. 초음파 트랜스듀서를 이용한 마이크로로봇 구동장치는 복수의 초음파 트랜스듀서를 포함하는 초음파 트랜스듀서부 및 상기 복수의 초음파 트랜스듀서를 제어하는 제어부를 포함하고, 상기 복수의 초음파 트랜스듀서는 공간 상 특정 위치를 향하도록 굴곡면을 형성하도록 배열될 수 있다.
PCT/KR2020/001378 2019-02-19 2020-01-29 단일방향 초음파 트랜스듀서를 이용한 마이크로로봇 구동장치 및 이를 이용한 시스템 Ceased WO2020171408A2 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/293,556 US12138412B2 (en) 2019-02-19 2020-01-29 Micro-robot operating device using unidirectional ultrasonic transducer, and system using same

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2019-0019447 2019-02-19
KR1020190019447A KR102224825B1 (ko) 2019-02-19 2019-02-19 단일방향 초음파 트랜스듀서를 이용한 마이크로로봇 구동장치 및 이를 이용한 시스템

Publications (2)

Publication Number Publication Date
WO2020171408A2 WO2020171408A2 (ko) 2020-08-27
WO2020171408A3 true WO2020171408A3 (ko) 2020-10-15

Family

ID=72144120

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2020/001378 Ceased WO2020171408A2 (ko) 2019-02-19 2020-01-29 단일방향 초음파 트랜스듀서를 이용한 마이크로로봇 구동장치 및 이를 이용한 시스템

Country Status (3)

Country Link
US (1) US12138412B2 (ko)
KR (1) KR102224825B1 (ko)
WO (1) WO2020171408A2 (ko)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE544110C2 (en) * 2020-12-15 2021-12-28 Myvox Ab Acoustic levitation system, computer-implemented method for levitating an object, computer program and non-volatile data carrier
KR102507060B1 (ko) 2021-01-04 2023-03-07 전남대학교산학협력단 초음파 기반 마이크로 파티클 트래핑 및 자극장치
WO2022189534A1 (en) * 2021-03-09 2022-09-15 Katholieke Universiteit Leuven, Ku Leuven Research & Development Flexible ultrasound transducer
CN115589175A (zh) * 2022-09-27 2023-01-10 哈尔滨工业大学（深圳） 一种利用超声波对微纳米机器人精确转向的控制方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6506154B1 (en) * 2000-11-28 2003-01-14 Insightec-Txsonics, Ltd. Systems and methods for controlling a phased array focused ultrasound system
KR101083345B1 (ko) * 2008-05-26 2011-11-15 전남대학교산학협력단 혈관치료용 마이크로 로봇 및 마이크로 로봇 시스템
KR101138323B1 (ko) * 2008-02-26 2012-04-25 가부시끼가이샤 도시바 초음파 검사 장치
KR101273302B1 (ko) * 2011-08-18 2013-06-11 조동식 초음파에 의한 신체 일부의 온열 방법 및 초음파 온열 자극기
KR101497303B1 (ko) * 2013-09-06 2015-03-03 한국과학기술원 초음파 빔포밍 기술을 이용하여 인체 내에 이식된 의료장치로의 무선전력전송장치

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019014228A1 (en) * 2017-07-11 2019-01-17 The Board Of Trustees Of The Leland Stanford Junior University ENDOSCOPIC ULTRASONIC CAPSULE DEVICE HAVING RELATIVE MOTION ESTIMATION BASED ON IMAGE

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6506154B1 (en) * 2000-11-28 2003-01-14 Insightec-Txsonics, Ltd. Systems and methods for controlling a phased array focused ultrasound system
KR101138323B1 (ko) * 2008-02-26 2012-04-25 가부시끼가이샤 도시바 초음파 검사 장치
KR101083345B1 (ko) * 2008-05-26 2011-11-15 전남대학교산학협력단 혈관치료용 마이크로 로봇 및 마이크로 로봇 시스템
KR101273302B1 (ko) * 2011-08-18 2013-06-11 조동식 초음파에 의한 신체 일부의 온열 방법 및 초음파 온열 자극기
KR101497303B1 (ko) * 2013-09-06 2015-03-03 한국과학기술원 초음파 빔포밍 기술을 이용하여 인체 내에 이식된 의료장치로의 무선전력전송장치

Also Published As

Publication number Publication date
US20220001157A1 (en) 2022-01-06
US12138412B2 (en) 2024-11-12
KR20200101162A (ko) 2020-08-27
KR102224825B1 (ko) 2021-03-09
WO2020171408A2 (ko) 2020-08-27

Similar Documents

Publication Publication Date Title
WO2020171408A3 (ko) 단일방향 초음파 트랜스듀서를 이용한 마이크로로봇 구동장치 및 이를 이용한 시스템
EP3357651A3 (en) Control device, robot, and robot system
EP4241720A3 (en) Association systems for manipulators
EP3952336A4 (en) AUDIBLE OUTPUT DEVICE
IL289450A (en) Acoustic echo cancellation control for distributed audio devices
EP2422935A3 (en) Robot, robot system, robot control device, and state determining method
SG10201809399VA (en) System and method for reinforcing programming education through robotic feedback
EP4534032A3 (en) Delivery system for delivering material to a target site
EP4544975A3 (en) Mobile robotic cleaner
WO2016166763A3 (en) Methods and systems for detecting at least the position of an object in space
SE1750364A1 (ko)
EP3054706A3 (en) A binaural hearing system and a hearing device comprising a beamformer unit
WO2015130070A3 (en) Ultrasound diagnostic apparatus and method of operating the same
EP2783815A3 (en) Robot system and method for producing to-be-processed material
EP4062128A4 (en) ULTRASONIC TRANSDUCERS, SUPPORT STRUCTURES AND ASSOCIATED METHODS
EP3725092A4 (en) DRIVE AND CONTROL UNIT FOR ACOUSTIC CONVERTER
EP3930923A4 (en) ADAPTIVE CAVITY THICKNESS CONTROL FOR MICRO-MACHINED ULTRASOUND TRANSDUCERS
EP3787516A4 (en) ULTRASOUND TRANSDUCER SYSTEM FOR GARMENT MONITORING DEVICE
EP3381624A3 (en) Control device, control system, robot, and robot system
EP4111231A4 (en) PHASE-BASED APPROACH FOR ULTRASONIC INSPECTION
EP2527830A3 (en) Signal Processing Apparatus, Signal Processing System, Probe, Signal Processing Method, and Program
EP2595023A3 (en) Aircraft control apparatus and aircraft control system
EP3671271A3 (en) Near ultrasound based proximity sensing for mobile devices
EP4009882A4 (en) SYSTEMS AND PROCEDURES FOR THE OPERATION AND CONTROL OF TURNSTILES
GB2609417B (en) Ultrasonic transducer

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20758597

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20758597

Country of ref document: EP

Kind code of ref document: A2