JP6782833B2 - 磁場制御システム - Google Patents
磁場制御システム Download PDFInfo
- Publication number
- JP6782833B2 JP6782833B2 JP2019507126A JP2019507126A JP6782833B2 JP 6782833 B2 JP6782833 B2 JP 6782833B2 JP 2019507126 A JP2019507126 A JP 2019507126A JP 2019507126 A JP2019507126 A JP 2019507126A JP 6782833 B2 JP6782833 B2 JP 6782833B2
- Authority
- JP
- Japan
- Prior art keywords
- magnetic
- magnetic field
- tube
- control system
- variable capacitor
- 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.)
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Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/20—Electromagnets; Actuators including electromagnets without armatures
- H01F7/206—Electromagnets for lifting, handling or transporting of magnetic pieces or material
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/02—Permanent magnets [PM]
- H01F7/0205—Magnetic circuits with PM in general
- H01F7/0221—Mounting means for PM, supporting, coating, encapsulating PM
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
-
- 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
- A61B34/73—Manipulators for magnetic surgery
-
- 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
- A61M25/0127—Magnetic means; Magnetic markers
-
- 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
- A61M25/0133—Tip steering devices
- A61M25/0158—Tip steering devices with magnetic or electrical means, e.g. by using piezo materials, electroactive polymers, magnetic materials or by heating of shape memory materials
-
- 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
- A61M37/00—Other apparatus for introducing media into the body; Percutany, i.e. introducing medicines into the body by diffusion through the skin
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- 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—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F27/00—Details of transformers or inductances, in general
- H01F27/24—Magnetic cores
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F27/00—Details of transformers or inductances, in general
- H01F27/28—Coils; Windings; Conductive connections
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F38/00—Adaptations of transformers or inductances for specific applications or functions
- H01F38/14—Inductive couplings
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F5/00—Coils
- H01F5/02—Coils wound on non-magnetic supports, e.g. formers
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/02—Permanent magnets [PM]
- H01F7/0273—Magnetic circuits with PM for magnetic field generation
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/06—Electromagnets; Actuators including electromagnets
- H01F7/064—Circuit arrangements for actuating electromagnets
-
- 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
- A61B34/73—Manipulators for magnetic surgery
- A61B2034/731—Arrangement of the coils or magnets
-
- 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)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Medical Informatics (AREA)
- Biophysics (AREA)
- Anesthesiology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Hematology (AREA)
- Molecular Biology (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Pulmonology (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Dermatology (AREA)
- Magnetic Treatment Devices (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Endoscopes (AREA)
- Manipulator (AREA)
Description
Claims (7)
- 直方体、立方体または球形状の立体構造で形成され、内部空間を有し、磁性体で提供される構造形成部と、
前記構造形成部の互いに異なる位置から前記内部空間へ延設され、前記内部空間に画定されたターゲット領域に向けるように配置され、磁場を生成する複数個の磁場生成部と、
前記磁場生成部とそれぞれ連結され、前記磁場生成部に電源を供給する複数個の電源部と、
を含み、
前記磁場生成部のそれぞれは、
前記構造形成部から延設される磁気コアと、
前記磁気コアに巻回されるコイルと、
一方の端が前記コイルの他方の端と連結され、他方の端が何れか一つの前記電源部と連結される可変キャパシタと、を含み、
それぞれの前記コイル、前記可変キャパシタ及び該可変キャパシタに連結された前記電源部は、閉回路を形成し、
前記コイルへ印加される電流により、前記磁気コアに生成される磁場、前記構造形成部に生成される磁場、および前記ターゲット領域に生成される磁場は、閉磁気回路を形成する、磁場制御システム。 - 前記可変キャパシタのキャパシタンスに応じて前記閉回路の共振周波数が可変されることを特徴とする請求項1に記載の磁場制御システム。
- 前記可変キャパシタのキャパシタンスは、互いに同一または異なる値を有するように設定されることを特徴とする請求項1に記載の磁場制御システム。
- 前記磁気コアは、円筒状の磁性体で形成されることを特徴とする請求項1に記載の磁場制御システム。
- 前記可変キャパシタのそれぞれは、並列に連結される複数のキャパシタで構成されることを特徴とする請求項1に記載の磁場制御システム。
- 前記立体構造は、直方体または立方体であり、
前記磁気コアは、前記直方体または立方体の頂点から延長されて前記ターゲット領域に向けるように配置されることを特徴とする請求項1に記載の磁場制御システム。 - 前記立体構造は、球(sphere)であり、
前記構造形成部は、内部に画定された面が互いに直交し且つその中心が互いに一致するように結合される2つの円形磁気コアリングを含み、
前記磁気コアは、前記2つの円形磁気コアリングの所定位置から前記ターゲット領域に向けるように配置されることを特徴とする請求項1に記載の磁場制御システム。
Applications Claiming Priority (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2016-0101756 | 2016-08-10 | ||
KR1020160101756A KR101782744B1 (ko) | 2016-08-10 | 2016-08-10 | 마그네틱 튜브 시스템 |
KR1020160120698A KR101772338B1 (ko) | 2016-09-21 | 2016-09-21 | 이동 로봇 및 이를 포함하는 이동 로봇 시스템 |
KR10-2016-0120698 | 2016-09-21 | ||
KR1020160126395A KR101765015B1 (ko) | 2016-09-30 | 2016-09-30 | 자기장 생성 장치 |
KR10-2016-0126395 | 2016-09-30 | ||
PCT/KR2017/004070 WO2018030610A2 (ko) | 2016-08-10 | 2017-04-14 | 자기장 제어 시스템 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019526930A JP2019526930A (ja) | 2019-09-19 |
JP6782833B2 true JP6782833B2 (ja) | 2020-11-11 |
Family
ID=61162930
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019507126A Active JP6782833B2 (ja) | 2016-08-10 | 2017-04-14 | 磁場制御システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US11756716B2 (ja) |
EP (2) | EP3499529A4 (ja) |
JP (1) | JP6782833B2 (ja) |
CN (1) | CN109564818B (ja) |
CA (1) | CA3033342C (ja) |
WO (1) | WO2018030610A2 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3793462B1 (en) * | 2018-05-18 | 2024-05-01 | Max-Planck-Gesellschaft zur Förderung der Wissenschaften e.V. | Magnetic field generator |
WO2021020784A1 (ko) * | 2019-07-26 | 2021-02-04 | 한양대학교 산학협력단 | 자기 구동시스템 및 이를 이용한 마이크로 로봇 제어 방법 |
KR102295728B1 (ko) * | 2019-08-28 | 2021-08-31 | 한양대학교 산학협력단 | 마이크로 로봇 및 이를 포함하는 마이크로 로봇 시스템 |
CN112959311B (zh) * | 2021-02-24 | 2023-11-07 | 哈尔滨工业大学 | 基于多级电磁铁的高频强磁场发生装置及磁场控制方法 |
CN114145845A (zh) * | 2021-12-03 | 2022-03-08 | 北京航空航天大学 | 一种用于黏小管成形术的磁导航方法及装置 |
KR20240058257A (ko) | 2022-10-26 | 2024-05-03 | 재단법인대구경북과학기술원 | 씨암과 호환 가능한 자기 구동 시스템 |
KR20240103117A (ko) | 2022-12-26 | 2024-07-04 | 재단법인대구경북과학기술원 | 곡선형 자기코어를 갖는 자기 구동 시스템 |
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-
2017
- 2017-04-14 EP EP17839628.9A patent/EP3499529A4/en not_active Ceased
- 2017-04-14 JP JP2019507126A patent/JP6782833B2/ja active Active
- 2017-04-14 WO PCT/KR2017/004070 patent/WO2018030610A2/ko unknown
- 2017-04-14 CA CA3033342A patent/CA3033342C/en active Active
- 2017-04-14 US US16/324,165 patent/US11756716B2/en active Active
- 2017-04-14 CN CN201780049009.3A patent/CN109564818B/zh active Active
- 2017-04-14 EP EP22197751.5A patent/EP4134991B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP4134991B1 (en) | 2024-07-10 |
CA3033342C (en) | 2021-07-27 |
EP4134991A1 (en) | 2023-02-15 |
EP3499529A4 (en) | 2020-04-29 |
CA3033342A1 (en) | 2018-02-15 |
EP3499529A2 (en) | 2019-06-19 |
JP2019526930A (ja) | 2019-09-19 |
WO2018030610A2 (ko) | 2018-02-15 |
CN109564818A (zh) | 2019-04-02 |
US20190184545A1 (en) | 2019-06-20 |
CN109564818B (zh) | 2021-04-27 |
US11756716B2 (en) | 2023-09-12 |
WO2018030610A3 (ko) | 2018-08-02 |
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