WO2009145405A1 - Microrobot for intravascular therapy and microrobot system using it - Google Patents

Microrobot for intravascular therapy and microrobot system using it Download PDF

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Publication number
WO2009145405A1
WO2009145405A1 PCT/KR2008/007531 KR2008007531W WO2009145405A1 WO 2009145405 A1 WO2009145405 A1 WO 2009145405A1 KR 2008007531 W KR2008007531 W KR 2008007531W WO 2009145405 A1 WO2009145405 A1 WO 2009145405A1
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WO
WIPO (PCT)
Prior art keywords
microrobot
robot body
unit
treatment
blood vessel
Prior art date
Application number
PCT/KR2008/007531
Other languages
French (fr)
Inventor
Jongoh Park
Sukho Park
Original Assignee
Industry Foundation Of Chonnam National University
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 filed Critical Industry Foundation Of Chonnam National University
Publication of WO2009145405A1 publication Critical patent/WO2009145405A1/en

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Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computerised tomographs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/3205—Excision instruments
    • A61B17/3207—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions
    • A61B17/320758—Atherectomy devices working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions with a rotating cutting instrument, e.g. motor driven
    • 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
    • A61M11/00—Sprayers or atomisers specially adapted for therapeutic purposes
    • 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
    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00345—Micromachines, nanomachines, microsystems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00411—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like actuated by application of energy from an energy source outside 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
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/12—Devices for detecting or locating foreign bodies

Definitions

  • the present invention relates, in general, to a microrobot for intravascular therapy and a microrobot system using the microrobot, and, more particularly, to a microrobot and microrobot system, which insert a microrobot equipped with a treatment unit for intravascular therapy into a blood vessel and externally control the microrobot in a wireless manner, thus treating an intravascular disease.
  • Background Art
  • a catheter-based intravascular disease treatment method is a method of treating intravascular diseases in such a way that, when a blood vessel is clogged by a thrombus or an atheroma, a catheter is inserted through the aorta femoralis and eliminates the thrombus or atheroma present in the blood vessel through suction or excision, and a balloon or stent capable of expanding the blood vessel is used if necessary.
  • Such a catheter-based intravascular disease treatment method has been used as a simpler and easier treatment method than vascular bypass graft which is configured to cut the breast open and attach an alternative blood vessel around a clogged blood vessel, and thus divert the flow of blood.
  • DES Drug Eluting Stent
  • an object of the present invention is to provide a microrobot for intravascular therapy and a microrobot system using the microrobot, which can solve the problems of a conventional catheter-based intravascular disease treatment method by replacing the catheter-based intravascular disease treatment method, and can reduce the exposure of patients or doctors to radiation at the time of treating intravascular diseases.
  • a microrobot comprising a robot body for moving within a blood vessel of a treatment target body, a location information provision unit provided in a certain portion of the robot body and configured to provide location information of the robot body, a driving unit provided in a certain portion of the robot body and configured to drive the robot body, a treatment unit provided in a certain portion of the robot body and configured to treat an intravascular disease, and a robot control unit for controlling the location information provision unit, the driving unit, and the treatment unit.
  • the microrobot further comprises a data transmission/ reception unit provided in a certain portion of the robot body and connected to the robot control unit, the data transmission/reception unit receiving a control signal from outside of the robot body or transmitting the location information to the outside of the robot body.
  • the microrobot further comprises a wireless power reception unit provided in a certain portion of the robot body and configured to receive power from the outside in a wireless manner.
  • the driving unit comprises a magnetic body provided with an electromagnetic force from the outside and configured to move the robot body using the electromagnetic force.
  • the driving unit comprises a self -driver for generating a self-driving force using power received by the wireless power reception unit.
  • the treatment unit comprises a micro drill provided on a head portion of the robot body and configured to physically treat an intravascular disease.
  • the treatment unit comprises a drug tank provided in the robot body and configured to store drugs for treatment of the intravascular disease, and a drug injection device configured to inject the drugs for treatment of the intravascular disease, stored in the drug tank, to the outside of the robot body.
  • the treatment unit comprises a particle collector provided at a certain external portion of the robot body and configured to collect treatment particles generated at a time of treating the intravascular disease.
  • the treatment unit comprises a centering unit provided in a certain internal portion of the robot body, and configured to fix the robot body within the blood vessel by extending to the blood vessel and coming into frictional contact with an inner wall of the blood vessel when the micro drill or the drug injection device is operated.
  • a microrobot control system comprising a microrobot for treating an intravascular disease while moving within a blood vessel of a treatment target body, a driving device for transferring a driving force to the microrobot from outside of the treatment target body, and a system control device for receiving location information of the microrobot and controlling the driving device, or transmitting a control signal to the microrobot, wherein the microrobot is implemented as the same robot as the above microrobot according to the above embodiment of the present invention.
  • the driving device comprises an external driving unit for generating a driving force by way of ultrasound waves, microwaves or electromagnetic fields.
  • the driving device comprises a location detection unit for detecting a location of the microrobot, the location detection unit detecting the location of the microrobot using an ultrasonic signal or X-ray angiography.
  • the system control device comprises a location control unit for receiving the location information of the microrobot from the location detection unit, processing the location information, and controlling the external driving unit, thus enabling the microrobot to be driven.
  • the present invention is advantageous in that it can provide a microrobot for intravascular therapy and a microrobot system using the microrobot, which can solve the problem of an injury to a blood vessel attributable to a guide wire because a catheter is not inserted at the time of performing intravascular therapy.
  • the present invention is advantageous in that it can provide a microrobot for intravascular therapy and a microrobot system using the microrobot, which can easily treat even blood vessels such as the coronary arteries, having a large number of branching blood vessels, because a microrobot controlled in a wireless manner is used.
  • the present invention is advantageous in that it can provide a microrobot for intravascular therapy and a microrobot system using the microrobot, which can improve an operation success rate because a focus region can be directly physically or chemically treated even in the case of CTO of blood vessels.
  • the present invention is advantageous in that it can provide a microrobot for intravascular therapy and a microrobot system using the microrobot, which can greatly reduce the radiation exposure of doctors because the location of the microrobot can be automatically determined using ultrasound or X-ray angiography in remote site from a doctor.
  • FIG. 1 is a diagram showing the construction of a microrobot according to an embodiment of the present invention.
  • FIG. 2 is a diagram showing the driving unit of a microrobot according to an embodiment of the present invention.
  • FIG. 3 is a diagram showing the treatment unit of a microrobot according to an embodiment of the present invention.
  • FIG. 4 is a diagram showing the centering unit and the particle collector of a microrobot according to an embodiment of the present invention
  • FIG. 5 is a diagram showing intravascular therapy performed by a microrobot according to an embodiment of the present invention.
  • FIG. 6 is a diagram showing a microrobot system according to an embodiment of the present invention.
  • FIG. 1 is a diagram showing the construction of a microrobot according to an embodiment of the present invention
  • Fig. 2 is a diagram showing the driving unit of the microrobot according to an embodiment of the present invention
  • Fig. 3 is a diagram showing the treatment unit of the microrobot according to an embodiment of the present invention.
  • a microrobot 100 includes a robot body 110, a location information provision unit 120, a driving unit 130, a treatment unit 140, a robot control unit 150, a data transmission/ reception unit 160, and a wireless power reception unit 170.
  • the robot body 110 is a part for defining the outside of the microrobot 100 and is manufactured to have such a size that the microrobot 100 is movable within a blood vessel 10.
  • the robot body 110 is manufactured to have a diameter of 2 mm or less so that the robot body 110 can be easily moved within the blood vessel.
  • the head portion 110a of the robot body 110 is manufactured in a streamline shape so as to minimize friction with hematoceles.
  • a particle collector 143 for collecting treatment particles 20 generated at the time of treating a blood vessel is provided.
  • the particle collector 143 will be described in detail with reference to Figs. 4 and 5.
  • the location information provision unit 120 is provided in a certain internal portion of the robot body 110, and is configured to provide the location information of the robot body 110 within the blood vessel to the outside of the blood vessel.
  • the location information provision unit 120 is implemented as an Intravascular Ultrasound (IVUS) sensor for generating ultrasound, and is configured to provide the location of the microrobot 100 to the outside of the microrobot by comparing an ultrasound image, which is generated by inserting the microrobot 100 into the blood vessel, with a blood vessel image which is obtained through existing preoperative imaging (for example, Computerized Tomography [CT] or Magnetic Resonance Imaging [MRI]).
  • IVUS Intravascular Ultrasound
  • the driving unit 130 is provided in a certain portion of the robot body 110, and is configured to move the robot body 110 within the blood vessel 10.
  • the driving unit 130 includes a magnetic body 131 provided with an electromagnetic force from the outside and configured to move the robot body 110 using the electromagnetic force.
  • the microrobot 100 is moved in such a way that the magnetic body 131 is provided with the electromagnetic force by means of varying electromagnetic fields that are applied from the outside.
  • the microrobot 100 may also be provided with a driving force by way of ultrasound waves or microwaves, in addition to electromagnetic fields.
  • the driving unit 130 further includes a self-driver 132, capable of generating a driving force by itself inside the microrobot, rather than being provided with the driving force from the outside.
  • the self-driver 132 may be one of various well-known actuator means capable of obtaining a driving force while coming into frictional contact with a liquid such as hematoceles or a solid such as the inner wall of the blood vessel 10.
  • the self-driver 132 generates a self-driving force using internal power, the internal power being supplied by the wireless power reception unit 170 which will be described later.
  • the treatment unit 140 is a part provided in a certain portion of the robot body 110 and configured to treat an intravascular disease.
  • the treatment unit 140 includes a micro drill 141 for physically treating an intravascular disease, a drug tank 142a and a drug injection device 142b for chemically treating an intravascular disease, a centering unit 144 for fixing the robot body 110 in the blood vessel at the time of performing intravascular treatment, and the particle collector 143 for collecting treatment particles generated at the time of performing the treatment.
  • the micro drill 141 is provided as a physical therapy method on the head portion 110a of the robot body 110, but a scalpel, a clamp, scissors, etc. may be further provided in addition to the micro drill 141, and thus an intravascular disease can be physically treated.
  • drugs stored in the drug tank 142a may be drugs which include, for example, a drug delivery vector, a ligand formed on the external portion of the drug delivery vector, and a biodegradable detergent, and which target CTO or thrombi.
  • the robot control unit 150 is provided in a certain internal portion of the robot body
  • the 110 is connected to the location information provision unit 120, the driving unit 130 and the treatment unit 140, and is configured to receive a control signal from the outside and control the location information provision unit 120, the driving unit 130 and the treatment unit 140.
  • the robot control unit 150 may transmit signals, generated by the location information provision unit 120, the driving unit 130 and the treatment unit 140, to the outside of the robot body using the data transmission/reception unit, which will be described later.
  • the data transmission/reception unit 160 is provided in a certain internal portion of the robot body 110, is connected to the robot control unit 150, and is configured to transmit signals to the outside or receive control signals transmitted from the outside.
  • signals transmitted from the data transmission/reception unit 160 to the outside may be those indicating the location information of the microrobot 100.
  • the wireless power reception unit 170 is provided in a certain internal portion of the robot body 110 and receives power from the outside in a wireless manner.
  • the wireless power reception unit 170 includes a wireless power reception antenna (not shown) for receiving sound waves or microwaves and a rectification circuit (not shown) for converting the sound waves or microwaves into power.
  • the wireless power reception unit 170 may receive various types of well- known signals that can be received in a wireless manner and can be converted into power, in addition to the sound waves or microwaves.
  • Mode for the Invention
  • FIG. 4 is a diagram showing the centering unit and particle collector of the microrobot according to an embodiment of the present invention
  • Fig. 5 is a diagram showing intravascular therapy performed by the microrobot according to an embodiment of the present invention.
  • the robot body 110 when the microrobot 100 according to an embodiment of the present invention initiates intravascular treatment using the micro drill 141 or the drug injection device 142b in the blood vessel 10, the robot body 110 must be fixed at a predetermined location inside the blood vessel 10. A component used at this time is the centering unit 144.
  • the centering unit 144 is provided in a certain internal portion of the robot body 110, and is configured to fix the robot body 110 within the blood vessel 10 by extending from the inside of the robot body 110 to the inner wall of the blood vessel 10 and coming into frictional contact with the inner wall when the micro drill 141 or the drug injection device 142b is operated.
  • the centering unit 144 is provided in the robot body 110 to facilitate the movement of the robot body 110 when the robot body 110 is moving in the blood vessel 10, and is externally extended to fix the robot body 110 in the blood vessel and facilitate treatment when performing the treatment.
  • the particle collector 143 for collecting treatment particles 20 generated at the time of performing the treatment is provided on the head portion 110a of the robot body 110.
  • the particle collector 143 is directed to the inner wall of the blood vessel 10 while forming a predetermined angle with respect to the movement direction of the robot body 110, thus enabling the treatment particles 20 to sufficiently come into frictional contact with the particle collector 143.
  • the particle collector 143 collects the treatment particles 20 thanks to a frictional force.
  • the particle collector 143 may enable the treatment particles 20 to be adhered thereto by an electrostatic effect, or may apply a ligand, targeting calcified 10b treatment particles 20, to the external portion of the particle collector 143 and allow the treatment particles 20 to be connected to the ligand.
  • FIG. 6 is a diagram showing a microrobot system according to an embodiment of the present invention.
  • a microrobot system includes a microrobot 100, a driving device 200 and a system control device 300.
  • microrobot of the microrobot system is identical to the microrobot 100 of Figs. 1 to 5, and thus a detailed description thereof is omitted, and the same reference numerals as those of the microrobot 100 are used.
  • the driving device 200 transfers a driving force from the outside of a treatment target body 30 to the microrobot 100 inserted into the treatment target body 30.
  • the driving device 200 includes an external driving unit 210 for generating the driving force to be transferred to the microrobot 100.
  • the driving force generated by the external driving unit 210 includes ultrasound waves, microwaves or electromagnetic fields.
  • the external driving unit 210 is implemented as an electromagnet, is moving outside the treatment target body 30 in the direction of pitch, yaw or roll, and is configured to move the microrobot 100 by applying an electromagnetic force to the magnetic body 131 provided in the driving unit 130 of the microrobot 100.
  • the external driving unit 210 may apply an electromagnetic force to the microrobot 100 using a conventional Magnetic Resonance Imaging (MRI) device.
  • MRI Magnetic Resonance Imaging
  • the external driving unit 210 may be configured such that a plurality of electromagnets is fixedly provided at regular locations around the treatment target body 30 and electric currents applied to the respective electromagnets are adjusted, so that the forms of electromagnetic fields applied to the treatment target body 30 are changed, and thus the microrobot 100 may be driven.
  • the driving device 200 further includes a location detection unit 220 for detecting the location of the microrobot 100 moving in the treatment target body 30.
  • the location detection unit 220 detects the location of the microrobot 100 by receiving the ultrasound signal generated by the location information provision unit 120 of the microrobot 100, or by capturing an X-ray image of the treatment target body 30.
  • the location detection unit 220 may detect the location of the microrobot 100 using X-ray angiography.
  • the system control device 300 receives the location information of the microrobot
  • the system control device 300 includes a location control unit 310 for processing the ultrasound location information transmitted from the location detection unit 210 or processing the X-ray image transmitted from the location detection unit 210.
  • the location control unit 310 includes the function of processing the X-ray image and detecting the location of the microrobot 100.
  • the system control device 300 displays the location of the microrobot 100 detected by the location control unit 310 on a display panel 330, and an operator controls the driving device 200 by manipulating the manipulation panel 320 of the system control device 300, and thus the microrobot 100 moves to the location of a lesion.
  • the system control device 300 may acquire and store the location of the lesion of the treatment target body 30 in advance through X-ray imaging or MRI, receive the current location of the microrobot 100 in real time, and thus allow the microrobot 100 to automatically move to the location of the lesion.
  • system control device 300 may directly transmit a control signal required for the operation of the treatment unit 140 or the driving unit 130 to the microrobot 100, thus allowing the microrobot 100 to manually move.
  • the present invention relates to a microrobot and microrobot system, which can treat an intravascular disease by inserting a microrobot equipped with a treatment unit for intravascular therapy into a blood vessel and externally controlling the microrobot in a wireless manner, and which can be widely used in the medical field, especially in the field of intravascular therapy.

Abstract

The present invention relates, in general, to a microrobot for intravascular therapy and a microrobot system using the microrobot, and, more particularly, to a microrobot and microrobot system, which insert a microrobot equipped with a treatment unit for intravascular therapy into a blood vessel and externally control the microrobot in a wireless manner, thus treating an intravascular disease. A microrobot control system according to an embodiment of the present invention includes a microrobot 100 for treating an intravascular disease while moving within a blood vessel of a treatment target body, a driving device 200 for transferring a driving force to the microrobot from outside of the treatment target body, and a system control device 300 for receiving location information of the microrobot and controlling the driving device, or transmitting a control signal to the microrobot.

Description

Description
MICROROBOT FOR INTRAVASCULAR THERAPY AND MI- CROROBOT SYSTEM USING IT
Technical Field
[1] The present invention relates, in general, to a microrobot for intravascular therapy and a microrobot system using the microrobot, and, more particularly, to a microrobot and microrobot system, which insert a microrobot equipped with a treatment unit for intravascular therapy into a blood vessel and externally control the microrobot in a wireless manner, thus treating an intravascular disease. Background Art
[2] For the medical treatment of intravascular diseases, catheter-based tools for the treatment of intravascular diseases have mainly been used.
[3] A catheter-based intravascular disease treatment method is a method of treating intravascular diseases in such a way that, when a blood vessel is clogged by a thrombus or an atheroma, a catheter is inserted through the aorta femoralis and eliminates the thrombus or atheroma present in the blood vessel through suction or excision, and a balloon or stent capable of expanding the blood vessel is used if necessary.
[4] Such a catheter-based intravascular disease treatment method has been used as a simpler and easier treatment method than vascular bypass graft which is configured to cut the breast open and attach an alternative blood vessel around a clogged blood vessel, and thus divert the flow of blood.
[5] However, such a catheter-based intravascular disease treatment method is problematic in that, since it is basically possible only when a guide wire can be inserted into a blood vessel, coronary arteries actually enclosing the heart have a great number of branching blood vessels, thus making it difficult to insert a guide wire, and in that, especially, in the case of Chronic Total Occlusion (CTO), a blood vessel is entirely clogged and becomes calcified and stiff, thus making it difficult to insert a guide wire.
[6] Further, the forcible insertion of a guide wire may rupture a blood vessel, thus resulting in a serious situation. Further, a method of expanding a narrowed blood vessel using a balloon or a stent may cause the problem of restenosis of a blood vessel. In order to reduce a restenosis rate, a Drug Eluting Stent (DES) has been developed and used. However, these treatment methods are also possible after a guide wire has been inserted.
[7] Actually, in the case of CTO, an operation success rate remains only at about 50 to
60% when a catheter is used, and thus a new alternative plan is urgently required. [8] Furthermore, the conventional catheter-based intravascular disease treatment method is problematic in that, since it is based on angiography, the radiation exposure of patents increases, and even doctors may also be exposed to radiation. Disclosure of Invention
Technical Problem
[9] Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a microrobot for intravascular therapy and a microrobot system using the microrobot, which can solve the problems of a conventional catheter-based intravascular disease treatment method by replacing the catheter-based intravascular disease treatment method, and can reduce the exposure of patients or doctors to radiation at the time of treating intravascular diseases. Technical Solution
[10] In accordance with an embodiment of the present invention to accomplish the above object, there is provided a microrobot, comprising a robot body for moving within a blood vessel of a treatment target body, a location information provision unit provided in a certain portion of the robot body and configured to provide location information of the robot body, a driving unit provided in a certain portion of the robot body and configured to drive the robot body, a treatment unit provided in a certain portion of the robot body and configured to treat an intravascular disease, and a robot control unit for controlling the location information provision unit, the driving unit, and the treatment unit.
[11] In a preferred embodiment, the microrobot further comprises a data transmission/ reception unit provided in a certain portion of the robot body and connected to the robot control unit, the data transmission/reception unit receiving a control signal from outside of the robot body or transmitting the location information to the outside of the robot body.
[12] In a preferred embodiment, the microrobot further comprises a wireless power reception unit provided in a certain portion of the robot body and configured to receive power from the outside in a wireless manner.
[13] In a preferred embodiment, the driving unit comprises a magnetic body provided with an electromagnetic force from the outside and configured to move the robot body using the electromagnetic force.
[14] In a preferred embodiment, the driving unit comprises a self -driver for generating a self-driving force using power received by the wireless power reception unit.
[15] In a preferred embodiment, the treatment unit comprises a micro drill provided on a head portion of the robot body and configured to physically treat an intravascular disease.
[16] In a preferred embodiment, the treatment unit comprises a drug tank provided in the robot body and configured to store drugs for treatment of the intravascular disease, and a drug injection device configured to inject the drugs for treatment of the intravascular disease, stored in the drug tank, to the outside of the robot body.
[17] In a preferred embodiment, the treatment unit comprises a particle collector provided at a certain external portion of the robot body and configured to collect treatment particles generated at a time of treating the intravascular disease.
[18] In a preferred embodiment, the treatment unit comprises a centering unit provided in a certain internal portion of the robot body, and configured to fix the robot body within the blood vessel by extending to the blood vessel and coming into frictional contact with an inner wall of the blood vessel when the micro drill or the drug injection device is operated.
[19] In accordance with another embodiment of the present invention to accomplish the above object, there is provided a microrobot control system, comprising a microrobot for treating an intravascular disease while moving within a blood vessel of a treatment target body, a driving device for transferring a driving force to the microrobot from outside of the treatment target body, and a system control device for receiving location information of the microrobot and controlling the driving device, or transmitting a control signal to the microrobot, wherein the microrobot is implemented as the same robot as the above microrobot according to the above embodiment of the present invention.
[20] In a preferred embodiment, the driving device comprises an external driving unit for generating a driving force by way of ultrasound waves, microwaves or electromagnetic fields.
[21] In a preferred embodiment, the driving device comprises a location detection unit for detecting a location of the microrobot, the location detection unit detecting the location of the microrobot using an ultrasonic signal or X-ray angiography.
[22] In a preferred embodiment, the system control device comprises a location control unit for receiving the location information of the microrobot from the location detection unit, processing the location information, and controlling the external driving unit, thus enabling the microrobot to be driven.
Advantageous Effects
[23] As described above, the present invention is advantageous in that it can provide a microrobot for intravascular therapy and a microrobot system using the microrobot, which can solve the problem of an injury to a blood vessel attributable to a guide wire because a catheter is not inserted at the time of performing intravascular therapy. [24] Further, the present invention is advantageous in that it can provide a microrobot for intravascular therapy and a microrobot system using the microrobot, which can easily treat even blood vessels such as the coronary arteries, having a large number of branching blood vessels, because a microrobot controlled in a wireless manner is used.
[25] Furthermore, the present invention is advantageous in that it can provide a microrobot for intravascular therapy and a microrobot system using the microrobot, which can improve an operation success rate because a focus region can be directly physically or chemically treated even in the case of CTO of blood vessels.
[26] In addition, the present invention is advantageous in that it can provide a microrobot for intravascular therapy and a microrobot system using the microrobot, which can greatly reduce the radiation exposure of doctors because the location of the microrobot can be automatically determined using ultrasound or X-ray angiography in remote site from a doctor. Brief Description of Drawings
[27] Fig. 1 is a diagram showing the construction of a microrobot according to an embodiment of the present invention;
[28] Fig. 2 is a diagram showing the driving unit of a microrobot according to an embodiment of the present invention;
[29] Fig. 3 is a diagram showing the treatment unit of a microrobot according to an embodiment of the present invention;
[30] Fig. 4 is a diagram showing the centering unit and the particle collector of a microrobot according to an embodiment of the present invention;
[31] Fig. 5 is a diagram showing intravascular therapy performed by a microrobot according to an embodiment of the present invention; and
[32] Fig. 6 is a diagram showing a microrobot system according to an embodiment of the present invention.
[33] The same reference numerals are used throughout the different drawings to designate components having substantially identical constructions and functions.
[34] <Description of reference characters of important parts>
[35] 100: microrobot 110: robot body
[36] 120: location information provision unit 130: driving unit
[37] 131: magnetic body 132: self-driver
[38] 140: treatment unit 141: micro drill
[39] 142a: drug tank 142b: drug injection device
[40] 143: particle collector 144: centering unit
[41] 150: robot control unit 160: data transmission/reception unit
[42] 170: wireless power reception unit 200: driving device [43] 210: external driving unit 220: location detection unit
[44] 300: system control device 310: location control unit
[45] 320: manipulation panel 330: display panel
Best Mode for Carrying out the Invention
[46] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.
[47] Fig. 1 is a diagram showing the construction of a microrobot according to an embodiment of the present invention, Fig. 2 is a diagram showing the driving unit of the microrobot according to an embodiment of the present invention, and Fig. 3 is a diagram showing the treatment unit of the microrobot according to an embodiment of the present invention.
[48] Referring to the drawings, a microrobot 100 according to an embodiment of the present invention includes a robot body 110, a location information provision unit 120, a driving unit 130, a treatment unit 140, a robot control unit 150, a data transmission/ reception unit 160, and a wireless power reception unit 170.
[49] The robot body 110 is a part for defining the outside of the microrobot 100 and is manufactured to have such a size that the microrobot 100 is movable within a blood vessel 10.
[50] In an embodiment of the present invention, the robot body 110 is manufactured to have a diameter of 2 mm or less so that the robot body 110 can be easily moved within the blood vessel.
[51] Further, the head portion 110a of the robot body 110 is manufactured in a streamline shape so as to minimize friction with hematoceles.
[52] Further, on the head portion 110a of the robot body 110, a particle collector 143 for collecting treatment particles 20 generated at the time of treating a blood vessel is provided. The particle collector 143 will be described in detail with reference to Figs. 4 and 5.
[53] The location information provision unit 120 is provided in a certain internal portion of the robot body 110, and is configured to provide the location information of the robot body 110 within the blood vessel to the outside of the blood vessel.
[54] For example, the location information provision unit 120 is implemented as an Intravascular Ultrasound (IVUS) sensor for generating ultrasound, and is configured to provide the location of the microrobot 100 to the outside of the microrobot by comparing an ultrasound image, which is generated by inserting the microrobot 100 into the blood vessel, with a blood vessel image which is obtained through existing preoperative imaging (for example, Computerized Tomography [CT] or Magnetic Resonance Imaging [MRI]). [55] The driving unit 130 is provided in a certain portion of the robot body 110, and is configured to move the robot body 110 within the blood vessel 10.
[56] Further, the driving unit 130 includes a magnetic body 131 provided with an electromagnetic force from the outside and configured to move the robot body 110 using the electromagnetic force.
[57] That is, the microrobot 100 is moved in such a way that the magnetic body 131 is provided with the electromagnetic force by means of varying electromagnetic fields that are applied from the outside.
[58] However, the microrobot 100 may also be provided with a driving force by way of ultrasound waves or microwaves, in addition to electromagnetic fields.
[59] The driving unit 130 further includes a self-driver 132, capable of generating a driving force by itself inside the microrobot, rather than being provided with the driving force from the outside.
[60] Further, the self-driver 132 may be one of various well-known actuator means capable of obtaining a driving force while coming into frictional contact with a liquid such as hematoceles or a solid such as the inner wall of the blood vessel 10.
[61] Further, the self-driver 132 generates a self-driving force using internal power, the internal power being supplied by the wireless power reception unit 170 which will be described later.
[62] The treatment unit 140 is a part provided in a certain portion of the robot body 110 and configured to treat an intravascular disease. The treatment unit 140 includes a micro drill 141 for physically treating an intravascular disease, a drug tank 142a and a drug injection device 142b for chemically treating an intravascular disease, a centering unit 144 for fixing the robot body 110 in the blood vessel at the time of performing intravascular treatment, and the particle collector 143 for collecting treatment particles generated at the time of performing the treatment.
[63] Meanwhile, in the embodiment of the present invention, the micro drill 141 is provided as a physical therapy method on the head portion 110a of the robot body 110, but a scalpel, a clamp, scissors, etc. may be further provided in addition to the micro drill 141, and thus an intravascular disease can be physically treated.
[64] Further, drugs stored in the drug tank 142a may be drugs which include, for example, a drug delivery vector, a ligand formed on the external portion of the drug delivery vector, and a biodegradable detergent, and which target CTO or thrombi.
[65] Meanwhile, the centering unit 144 and the particle collector 143 will be described in detail with reference to Figs. 4 and 5.
[66] The robot control unit 150 is provided in a certain internal portion of the robot body
110, is connected to the location information provision unit 120, the driving unit 130 and the treatment unit 140, and is configured to receive a control signal from the outside and control the location information provision unit 120, the driving unit 130 and the treatment unit 140.
[67] Further, the robot control unit 150 may transmit signals, generated by the location information provision unit 120, the driving unit 130 and the treatment unit 140, to the outside of the robot body using the data transmission/reception unit, which will be described later.
[68] The data transmission/reception unit 160 is provided in a certain internal portion of the robot body 110, is connected to the robot control unit 150, and is configured to transmit signals to the outside or receive control signals transmitted from the outside.
[69] For example, signals transmitted from the data transmission/reception unit 160 to the outside may be those indicating the location information of the microrobot 100.
[70] The wireless power reception unit 170 is provided in a certain internal portion of the robot body 110 and receives power from the outside in a wireless manner.
[71] Further, the wireless power reception unit 170 includes a wireless power reception antenna (not shown) for receiving sound waves or microwaves and a rectification circuit (not shown) for converting the sound waves or microwaves into power.
[72] However, the wireless power reception unit 170 may receive various types of well- known signals that can be received in a wireless manner and can be converted into power, in addition to the sound waves or microwaves. Mode for the Invention
[73] Fig. 4 is a diagram showing the centering unit and particle collector of the microrobot according to an embodiment of the present invention, and Fig. 5 is a diagram showing intravascular therapy performed by the microrobot according to an embodiment of the present invention.
[74] Referring to the drawings, when the microrobot 100 according to an embodiment of the present invention initiates intravascular treatment using the micro drill 141 or the drug injection device 142b in the blood vessel 10, the robot body 110 must be fixed at a predetermined location inside the blood vessel 10. A component used at this time is the centering unit 144.
[75] The centering unit 144 is provided in a certain internal portion of the robot body 110, and is configured to fix the robot body 110 within the blood vessel 10 by extending from the inside of the robot body 110 to the inner wall of the blood vessel 10 and coming into frictional contact with the inner wall when the micro drill 141 or the drug injection device 142b is operated.
[76] That is, the centering unit 144 is provided in the robot body 110 to facilitate the movement of the robot body 110 when the robot body 110 is moving in the blood vessel 10, and is externally extended to fix the robot body 110 in the blood vessel and facilitate treatment when performing the treatment.
[77] Further, in the microrobot 100, the particle collector 143 for collecting treatment particles 20 generated at the time of performing the treatment is provided on the head portion 110a of the robot body 110. The particle collector 143 is directed to the inner wall of the blood vessel 10 while forming a predetermined angle with respect to the movement direction of the robot body 110, thus enabling the treatment particles 20 to sufficiently come into frictional contact with the particle collector 143.
[78] That is, the particle collector 143 collects the treatment particles 20 thanks to a frictional force. However, the particle collector 143 may enable the treatment particles 20 to be adhered thereto by an electrostatic effect, or may apply a ligand, targeting calcified 10b treatment particles 20, to the external portion of the particle collector 143 and allow the treatment particles 20 to be connected to the ligand.
[79] Fig. 6 is a diagram showing a microrobot system according to an embodiment of the present invention.
[80] Referring to Fig. 6, a microrobot system according to an embodiment of the present invention includes a microrobot 100, a driving device 200 and a system control device 300.
[81] Meanwhile, the microrobot of the microrobot system according to the embodiment of the present invention is identical to the microrobot 100 of Figs. 1 to 5, and thus a detailed description thereof is omitted, and the same reference numerals as those of the microrobot 100 are used.
[82] The driving device 200 transfers a driving force from the outside of a treatment target body 30 to the microrobot 100 inserted into the treatment target body 30.
[83] Further, the driving device 200 includes an external driving unit 210 for generating the driving force to be transferred to the microrobot 100.
[84] Further, the driving force generated by the external driving unit 210 includes ultrasound waves, microwaves or electromagnetic fields.
[85] For example, the external driving unit 210 is implemented as an electromagnet, is moving outside the treatment target body 30 in the direction of pitch, yaw or roll, and is configured to move the microrobot 100 by applying an electromagnetic force to the magnetic body 131 provided in the driving unit 130 of the microrobot 100.
[86] Further, the external driving unit 210 may apply an electromagnetic force to the microrobot 100 using a conventional Magnetic Resonance Imaging (MRI) device.
[87] Further, the external driving unit 210 may be configured such that a plurality of electromagnets is fixedly provided at regular locations around the treatment target body 30 and electric currents applied to the respective electromagnets are adjusted, so that the forms of electromagnetic fields applied to the treatment target body 30 are changed, and thus the microrobot 100 may be driven. [88] The driving device 200 further includes a location detection unit 220 for detecting the location of the microrobot 100 moving in the treatment target body 30.
[89] Further, the location detection unit 220 detects the location of the microrobot 100 by receiving the ultrasound signal generated by the location information provision unit 120 of the microrobot 100, or by capturing an X-ray image of the treatment target body 30.
[90] That is, the location detection unit 220 may detect the location of the microrobot 100 using X-ray angiography.
[91] The system control device 300 receives the location information of the microrobot
100 from the driving device 200, and thus controls the driving device 200.
[92] Further, the system control device 300 includes a location control unit 310 for processing the ultrasound location information transmitted from the location detection unit 210 or processing the X-ray image transmitted from the location detection unit 210.
[93] Further, the location control unit 310 includes the function of processing the X-ray image and detecting the location of the microrobot 100.
[94] That is, the system control device 300 displays the location of the microrobot 100 detected by the location control unit 310 on a display panel 330, and an operator controls the driving device 200 by manipulating the manipulation panel 320 of the system control device 300, and thus the microrobot 100 moves to the location of a lesion.
[95] However, the system control device 300 may acquire and store the location of the lesion of the treatment target body 30 in advance through X-ray imaging or MRI, receive the current location of the microrobot 100 in real time, and thus allow the microrobot 100 to automatically move to the location of the lesion.
[96] Further, the system control device 300 may directly transmit a control signal required for the operation of the treatment unit 140 or the driving unit 130 to the microrobot 100, thus allowing the microrobot 100 to manually move.
[97] Although the construction and operation of the present invention have been shown with reference to the above description and drawings, these are only exemplary and it is apparent that various modifications and changes are possible without departing from the scope and spirit of the invention. Industrial Applicability
[98] The present invention relates to a microrobot and microrobot system, which can treat an intravascular disease by inserting a microrobot equipped with a treatment unit for intravascular therapy into a blood vessel and externally controlling the microrobot in a wireless manner, and which can be widely used in the medical field, especially in the field of intravascular therapy.

Claims

Claims
[1] A microrobot, comprising: a robot body for moving within a blood vessel of a treatment target body; a location information provision unit provided in a certain portion of the robot body and configured to provide location information of the robot body; a driving unit provided in a certain portion of the robot body and configured to drive the robot body; a treatment unit provided in a certain portion of the robot body and configured to treat an intravascular disease; and a robot control unit for controlling the location information provision unit, the driving unit, and the treatment unit.
[2] The microrobot according to claim 1, further comprising a data transmission/ reception unit provided in a certain portion of the robot body and connected to the robot control unit, the data transmission/reception unit receiving a control signal from outside of the robot body or transmitting the location information to the outside of the robot body.
[3] The microrobot according to claim 1 or 2, further comprising a wireless power reception unit provided in a certain portion of the robot body and configured to receive power from the outside in a wireless manner.
[4] The microrobot according to claim 1 or 2, wherein the driving unit comprises a magnetic body provided with an electromagnetic force from the outside and configured to move the robot body using the electromagnetic force.
[5] The microrobot according to claim 1 or 2, wherein the driving unit comprises a self-driver for generating a self-driving force using power received by the wireless power reception unit.
[6] The microrobot according to claim 1 or 2, wherein the treatment unit comprises a micro drill provided on a head portion of the robot body and configured to physically treat an intravascular disease.
[7] The microrobot according to claim 1 or 2, wherein the treatment unit comprises a drug tank provided in the robot body and configured to store drugs for treatment of the intravascular disease, and a drug injection device configured to inject the drugs for treatment of the intravascular disease, stored in the drug tank, to the outside of the robot body.
[8] The microrobot according to claim 1 or 2, wherein the treatment unit comprises a particle collector provided at a certain external portion of the robot body and configured to collect treatment particles generated at a time of treating the intravascular disease.
[9] The microrobot according to claim 1 or 2, wherein the treatment unit comprises a centering unit provided in a certain internal portion of the robot body, and configured to fix the robot body within the blood vessel by extending to the blood vessel and coming into frictional contact with an inner wall of the blood vessel when the micro drill or the drug injection device is operated.
[10] A microrobot control system, comprising: a microrobot for treating an intravascular disease while moving within a blood vessel of a treatment target body; a driving device for transferring a driving force to the microrobot from outside of the treatment target body; and a system control device for receiving location information of the microrobot and controlling the driving device, or transmitting a control signal to the microrobot, wherein the microrobot comprises: a robot body for moving within the blood vessel of the treatment target body; a location information provision unit provided in a certain portion of the robot body and configured to provide location information of the robot body; a driving unit provided in a certain portion of the robot body and configured to drive the robot body; a treatment unit provided in a certain portion of the robot body and configured to treat the intravascular disease; and a robot control unit for controlling the location information provision unit, the driving unit, and the treatment unit.
[11] The microrobot system according to claim 10, wherein the driving device comprises an external driving unit for generating a driving force by way of ultrasound waves, microwaves or electromagnetic fields.
[12] The microrobot system according to claim 10, wherein the driving device comprises a location detection unit for detecting a location of the microrobot, the location detection unit detecting the location of the microrobot using an ultrasonic signal or X-ray angiography.
[13] The microrobot system according to claim 10, wherein the system control device comprises a location control unit for receiving the location information of the microrobot from the location detection unit, processing the location information, and controlling the external driving unit, thus enabling the microrobot to be driven.
[14] The microrobot system according to any one of claims 10 to 13, further comprising a data transmission/reception unit provided in a certain portion of the robot body and connected to the robot control unit, the data transmission/ reception unit receiving a control signal from outside of the robot body or transmitting the location information to the outside of the robot body.
[15] The microrobot system according to claim 14, further comprising a wireless power reception unit provided in a certain portion of the robot body and configured to receive power from the outside in a wireless manner.
[16] The microrobot system according to claim 14, wherein the driving unit comprises a magnetic body provided with an electromagnetic force from the outside and configured to move the robot body using the electromagnetic force.
[17] The microrobot system according to claim 14, wherein the driving unit comprises a self-driver for generating a self-driving force using power received by the wireless power reception unit.
[18] The microrobot system according to claim 14, wherein the treatment unit comprises a micro drill provided on a head portion of the robot body and configured to physically treat an intravascular disease.
[19] The microrobot system according to claim 14, wherein the treatment unit comprises a drug tank provided in the robot body and configured to store drugs for treatment of the intravascular disease, and a drug injection device configured to inject the drugs for treatment of the intravascular disease, stored in the drug tank, to the outside of the robot body.
[20] The microrobot system according to claim 14, wherein the treatment unit comprises a particle collector provided at a certain external portion of the robot body and configured to collect treatment particles generated at a time of treating the intravascular disease.
[21] The microrobot system according to claim 14, wherein the treatment unit comprises a centering unit provided in a certain internal portion of the robot body, and configured to fix the robot body within the blood vessel by extending to the blood vessel and coming into frictional contact with an inner wall of the blood vessel when the micro drill or the drug injection device is operated.
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