# US 11,439,475 B2 · Drug delivery robot

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- Number: US 11,439,475 B2
- Document ID: US11439475B2
- Status: Granted
- Kind: B2
- Application number: 16/626,042
- Filed: 2018-06-18
- Published: 2021-05-13
- Granted: 2022-09-13
- Earliest claimed: 2017-06-21
- Assignees: Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University)
- Applicants: Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University)
- Inventors: Gunhee Jang; Jae Kwang Nam
- Web page: https://patentgrep.com/patent/US11439475B2

## CPC

- A61B 34/73: {Manipulators for magnetic surgery}
- A61M 25/0127: {Magnetic means; Magnetic markers}
- A61B 17/1615: {Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material}
- A61B 34/30: Surgical robots
- A61K 9/50: Microcapsules {having a gas, liquid or semi-solid filling; Solid microparticles or pellets surrounded by a distinct coating layer, e.g. coated microspheres, coated drug crystals (A61K9/2081 takes precedence; particles with a single coating comprising drug A61K9/167)}
- A61M 25/0116: {self-propelled, e.g. autonomous robots (A61M25/0122 takes precedence)}
- A61M 31/002: {Devices for releasing a drug at a continuous and controlled rate for a prolonged period of time (artificial gland structures or devices A61F2/022; intra-uterine contraceptive devices A61F6/14; tampons for introducing into the vagina A61F13/20, A61L15/00; suppositories or bougies for intra-vaginal or intra-uterine application A61K9/02; physical forms of medicinal preparations for sustained or differential drug release A61K9/20, A61K9/50)}
- A61B 2034/731: {Arrangement of the coils or magnets}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- 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)}
- A61K: PREPARATIONS FOR MEDICAL, DENTAL OR TOILETRY PURPOSES (devices or methods specially adapted for bringing pharmaceutical products into particular physical or administering forms A61J3/00; chemical aspects of, or use of materials for deodorisation of air, for disinfection or sterilisation, or for bandages, dressings, absorbent pads or surgical articles A61L; soap compositions C11D)

## Abstract

A drug delivery robot is provided. The drug delivery robot comprises: a storage space in which a drug is stored; a first accommodation unit formed at the front of the storage space along a first direction; an outlet by which the first accommodation unit communicates with the outside; a body having a first communication hole by which the storage space communicates with the first accommodation unit; a front rotational magnet which is located in the first accommodation unit and has a central axis arranged in a second direction perpendicular to the first direction; a first fixed magnet which is fixedly coupled to one side of the body in the rear of the front rotational magnet; and a second fixed magnet which is fixedly coupled to the other side of the body while having the storage space between the first fixed magnet and the second magnet and is arranged to face polarities different from those of the first fixed magnet, wherein the front rotational magnet can selectively rotate around an axis of the first direction or the second direction by means of an external magnetic field control, the body rotates together around the axis of the first direction when the front rotational magnet rotates around the axis of the first direction, the front rotational magnet opens or closes the first communication hole by means of the magnetic force with the first fixed magnet and the second fixed magnet when the front rotational magnet rotates around the axis of the second direction.

## Claims

### Claim 1

A drug delivery robot comprising:
a body including a storage space in which a drug is stored, a first accommodation portion formed at a front of the storage space in a first direction, an outlet which allows the first accommodation portion to communicate with an outside, and a first communication hole which allows the storage space to communicate with the first accommodation portion;
a front rotational magnet located in the first accommodation portion and having a central axis arranged in a second direction perpendicular to the first direction;
a first fixed magnet fixedly coupled to one side of the body at a rear of the front rotational magnet; and
a second fixed magnet fixedly coupled to an opposite side of the body with the storage space interposed between the first fixed magnet and the second fixed magnet, and arranged such that mutually different polarities of the first and second fixed magnets face each other,
wherein the front rotational magnet is able to selectively rotate about an axis in one of the first direction and the second direction under a control of an external magnetic field,
the body rotates together with the front rotational magnet about the axis in the first direction when the front rotational magnet rotates about the axis in the first direction, and
the front rotational magnet opens or closes the first communication hole by a magnetic force in association with the first fixed magnet and the second fixed magnet when the front rotational magnet rotates about the axis in the second direction.

### Claim 2 (depends on 1)

The drug delivery robot of claim 1, wherein the front rotational magnet has a cylindrical shape, and has an N-pole and an S-pole making contact with each other with the central axis interposed therebetween.

### Claim 3 (depends on 2)

The drug delivery robot of claim 2, wherein the first fixed magnet applies a magnetic force to one of the N-pole and the S-pole of the front rotational magnet, and
the second fixed magnet applies a magnetic force to a remaining one of the N-pole and the S-pole of the front rotational magnet.

### Claim 4 (depends on 1)

The drug delivery robot of claim 1, wherein the rotation of the front rotational magnet about the axis in the first direction is limited while the front rotational magnet is freely rotatable about the axis in the second direction within the first accommodation portion.

### Claim 5 (depends on 1)

The drug delivery robot of claim 1, wherein an inner diameter of the first accommodation portion is larger than an outer diameter of the front rotational magnet.

### Claim 6 (depends on 1)

The drug delivery robot of claim 1, wherein the body is provided along an outer circumferential surface thereof with a protrusion having a spiral shape.

### Claim 7 (depends on 1)

The drug delivery robot of claim 1, wherein the body includes a second accommodation portion formed at a rear of the storage space in the first direction, an inlet which allows the second accommodation portion to communicate with the outside, and a second communication hole which allows the storage space to communicate with the second accommodation portion,
the drug delivery robot further comprises:
a rear rotational magnet located in the second accommodation portion and having a central axis arranged in the second direction perpendicular to the first direction;
a third fixed magnet fixedly coupled to the one side of the body at a front of the rear rotational magnet; and
a fourth fixed magnet fixedly coupled to the opposite side of the body with the storage space interposed between the third fixed magnet and the fourth fixed magnet, and arranged such that mutually different polarities of the third and fourth fixed magnets face each other,
the rear rotational magnet is able to selectively rotate about the axis in one of the first direction and the second direction under the control of the external magnetic field,
the body rotates together with the rear rotational magnet about the axis in the first direction when the rear rotational magnet rotates about the axis in the first direction, and
the rear rotational magnet opens or closes the second communication hole by a magnetic force in association with the third fixed magnet and the fourth fixed magnet when the rear rotational magnet rotates about the axis in the second direction.

### Claim 8 (depends on 7)

The drug delivery robot of claim 7, wherein the rear rotational magnet has a cylindrical shape, and has an N-pole and an S-pole making contact with each other with the central axis interposed therebetween.

### Claim 9 (depends on 7)

The drug delivery robot of claim 7, wherein the third fixed magnet applies a magnetic force to one of the N-pole and the S-pole of the rear rotational magnet, and
the second fixed magnet applies a magnetic force to a remaining one of the N-pole and the S-pole of the rear rotational magnet.

### Claim 10 (depends on 7)

The drug delivery robot of claim 7, wherein an inner diameter of the second accommodation portion is larger than an outer diameter of the rear rotational magnet.

### Claim 11

A drug delivery robot comprising:
a body including a storage space in which a drug is stored, a second accommodation portion formed at a rear of the storage space in a first direction, an inlet which allows the second accommodation portion to communicate with an outside, and a second communication hole which allows the storage space to communicate with the second accommodation portion;
a rear rotational magnet located in the second accommodation portion and having a central axis arranged in a second direction perpendicular to the first direction;
a third fixed magnet fixedly coupled to one side of the body at a front of the rear rotational magnet; and
a fourth fixed magnet fixedly coupled to an opposite side of the body with the storage space interposed between the third fixed magnet and the fourth fixed magnet, and arranged such that mutually different polarities of the third and fourth fixed magnets face each other,
wherein the rear rotational magnet is able to selectively rotate about an axis in one of the first direction and the second direction under a control of an external magnetic field,
the body rotates together with the rear rotational magnet about the axis in the first direction when the rear rotational magnet rotates about the axis in the first direction, and
the rear rotational magnet opens or closes the second communication hole by a magnetic force in association with the third fixed magnet and the fourth fixed magnet when the rear rotational magnet rotates about the axis in the second direction.