# US 10,117,991 B2 · Medical micro robot and micro robot system having the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,117,991 B2 - Document ID: US10117991B2 - Status: Granted - Kind: B2 - Application number: 15/309,265 - Filed: 2015-01-16 - Published: 2017-03-16 - Granted: 2018-11-06 - Earliest claimed: 2014-05-07 - Assignees: Industry-University Cooperation Foundation Hanyang University - Applicants: Industry-University Cooperation Foundation Hanyang University - Inventors: Gun Hee Jang; Seung Mun Jeon - Web page: https://patentgrep.com/patent/US10117991B2 ## CPC - A61M 5/1452: {pressurised by means of pistons} - A61B 17/3207: Atherectomy devices {working by cutting or abrading; Similar devices specially adapted for non-vascular obstructions (A61B17/32037 takes precedence; endoscopic cutting instruments A61B17/320016)} - A61B 17/320758: {with a rotating cutting instrument, e.g. motor driven (A61B17/320725, A61B17/32075 and A61B17/320783 take precedence; for removing intra-ocular material A61F9/00763; endoscopic rotatable cutting instruments A61B17/32002)} - A61B 34/30: Surgical robots - A61B 34/73: {Manipulators for magnetic surgery} - A61M 31/00: Devices for introducing or retaining media, e.g. remedies, in cavities of the body (A61M25/00 takes precedence {; introducing or retaining ophthalmic products into the ocular cavities A61F9/0008}) - A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)} - A61B 17/22: Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for - A61B 90/00: Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges - A61B 2017/00137: {Details of operation mode} - A61B 2017/00345: {Micromachines, nanomachines, microsystems} - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/00411: {actuated by application of energy from an energy source outside the body} - A61B 2017/00893: {pharmaceutically effective} - A61B 2017/22084: {stone- or thrombus-dissolving} - A61B 2017/22094: {for crossing total occlusions, i.e. piercing} - A61B 2034/2065: {Tracking using image or pattern recognition} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/303: {specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels} - A61B 2090/376: {using X-rays, e.g. fluoroscopy} - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract The present invention provides a micro robot including: a drilling body which has a drilling tip formed at an end thereof; a spiral coupling body which has a magnet disposed therein, and is spirally coupled to an outer circumference of the drilling body; and a system control unit which allows the drilling body and the spiral coupling body to spirally move simultaneously or allows the spiral coupling body to spirally move around the drilling body by providing a rotational magnetic field to the magnet. In addition, the present invention also provides a micro robot system including the micro robot. ## Claims ### Claim 1 A micro robot comprising: a drilling body which has a drilling tip formed at an end thereof; a spiral coupling body which has a magnet disposed therein, and is spirally coupled to an outer circumference of the drilling body; and a system control unit which allows the drilling body and the spiral coupling body to spirally move simultaneously or allows the spiral coupling body to spirally move around the drilling body by providing a rotational magnetic field to the magnet, wherein a spiral protrusion, which is spirally coupled to the spiral coupling body, is formed on the outer circumference of the drilling body, wherein a medicine accommodating space, which has a hollow shape and accommodates a medicine, is formed in the drilling body, and a medicine injection hole through which the accommodated medicine is injected to the outside is formed at an end portion of the drilling tip, and wherein the spiral coupling body includes: a piston body which is disposed to be fitted into the medicine accommodating space in order to pump the medicine; and a spiral coil which is formed at an end portion of the piston body and spirally coupled to the spiral protrusion. ### Claim 2 (depends on 1) The micro robot of claim 1, wherein a magnet slot into which the magnet is fitted and installed is formed in the piston body. ### Claim 3 (depends on 2) The micro robot of claim 2, wherein the magnet slot is formed as a cylindrical hole and the magnet is formed in a cylindrical bar shape. ### Claim 4 (depends on 1) The micro robot of claim 1, wherein the end portion of the piston body is formed in a convex shape. ### Claim 5 (depends on 1) The micro robot of claim 1, wherein the system control unit controls an operation of a magnetic field generating unit that generates the rotational magnetic field, a forward movement mode or a rearward movement mode, a medicine injection mode, and a drilling mode set to the system control unit, the system control unit satisfies a condition of T H ⁢ ⁢ 1 r + T H ⁢ ⁢ 2 r < T H ⁢ ⁢ 1 m ≤ I H ⁢ ⁢ 1 + I H ⁢ ⁢ 2 I H ⁢ ⁢ 2 ⁢ T H ⁢ ⁢ 1 + H ⁢ ⁢ 2 max , f - I H ⁢ ⁢ 1 I H ⁢ ⁢ 2 ⁢ T H ⁢ ⁢ 2 r + T H ⁢ ⁢ 1 r when the forward movement mode and the rearward movement mode are carried out, satisfies a condition of I H ⁢ ⁢ 1 + I H ⁢ ⁢ 2 I H ⁢ ⁢ 2 ⁢ T H ⁢ ⁢ 1 + H ⁢ ⁢ 2 max , f - I H ⁢ ⁢ 1 I H ⁢ ⁢ 2 ⁢ T H ⁢ ⁢ 2 r + T H ⁢ ⁢ 1 r < T H ⁢ ⁢ 1 m when the medicine injection mode is carried out, and satisfies a condition of TH1r+TH2r