# US 12,002,620 B2 · Bed-integrated electromagnetic field apparatus for controlling movement of microrobot and method for driving microrobot by using same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,002,620 B2 - Document ID: US12002620B2 - Status: Granted - Kind: B2 - Application number: 17/273,794 - Filed: 2020-10-27 - Published: 2022-06-23 - Granted: 2024-06-04 - Earliest claimed: 2020-07-07 - Assignees: Korea Institute of Medical Microrobotics - Applicants: Korea Institute of Medical Microrobotics - Inventors: Jayoung Kim; Jong Oh Park - Web page: https://patentgrep.com/patent/US12002620B2 ## CPC - A61B 5/6861: {Capsules, e.g. for swallowing or implanting} - H01F 7/20: without armatures (cores H01F3/00; coils H01F5/00 {; shaping metal by applying magnetic forces B21D26/14; electromagnets specially adapted for NMR applications G01R33/381}) - A47C 21/042: {for ventilating or cooling (A47C21/028 and A47C27/007 take precedence)} - A47C 31/003: {Magnets} - A61B 5/062: {using magnetic field} - A61B 17/00: Surgical instruments, devices or methods (A61B18/00 takes precedence; dental tools A61C3/00; eye surgery A61F9/007; ear surgery A61F11/20) - A61B 34/00: Computer-aided surgery; Manipulators or robots specially adapted for use in surgery - A61B 34/73: {Manipulators for magnetic surgery} - A61N 2/02: using magnetic fields produced by coils, including single turn loops or electromagnets (A61N2/12 takes precedence) - H01F 27/24: Magnetic cores - H01F 27/28: Coils; Windings; Conductive connections - H01F 27/306: {Fastening or mounting coils or windings on core, casing or other support} - A61B 34/30: Surgical robots - A61B 34/72: {Micromanipulators} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/733: {arranged only on one side of the patient, e.g. under a table} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - H01F: MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES - A47C: CHAIRS; SOFAS; BEDS - A61N: ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY (measurement of bioelectric currents A61B; surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body A61B18/00; anaesthetic apparatus in general A61M; incandescent lamps H01K; infrared radiators for heating H05B) ## Abstract The present disclosure relates to a bed-integrated electromagnetic field apparatus for controlling movement of a microrobot, and a method for driving a microrobot by using the same. A bed-integrated electromagnetic field apparatus according to the present disclosure can accurately control the movement of a medical device that can be inserted into a human body, such as a microrobot, and enables reduction of the size of the apparatus so as to be used in a medical procedure for diagnosis and treatment of vascular disease and the like. ## Claims ### Claim 1 A bed-integrated electromagnetic field apparatus comprising: a first electromagnet including a first support plate disposed on one side thereof, a second support plate disposed opposite the first support plate, a central part configured to connect the first support plate and the second support plate through a connection part, and a first winding wound along a circumference of the central part; one or more second electromagnets, each including a core part having a lower surface disposed to have a predetermined angle with the first electromagnet and an upper surface disposed opposite the lower surface, and a second winding wound between the upper surface and the lower surface; and a bed which includes one or more curved parts and a support part disposed between the one or more curved parts, and in which the first electromagnet and the one or more second electromagnets are disposed. ### Claim 2 (depends on 1) The bed-integrated electromagnetic field apparatus of claim 1, wherein the central part includes a hollow part formed therein. ### Claim 3 (depends on 1) The bed-integrated electromagnetic field apparatus of claim 1, wherein the lower surface is disposed to be in contact with the connection part. ### Claim 4 (depends on 1) The bed-integrated electromagnetic field apparatus of claim 1, wherein curvatures of the curved parts are formed in a shape corresponding to an angle at which the second coil is disposed. ### Claim 5 (depends on 1) The bed-integrated electromagnetic field apparatus of claim 1, further comprising a power supply unit. ### Claim 6 (depends on 1) The bed-integrated electromagnetic field apparatus of claim 1, further comprising a cooling unit. ### Claim 7 (depends on 1) The bed-integrated electromagnetic field apparatus of claim 1, wherein each of the second electromagnets is disposed to be oriented toward a central axis of the first electromagnet, and the second electromagnets are disposed to be opposite to each other. ### Claim 8 (depends on 1) The bed-integrated electromagnetic field apparatus of claim 1, further comprising a microrobot including a magnetic substance. ### Claim 9 (depends on 1) The bed-integrated electromagnetic field apparatus of claim 1, wherein the lower surface of the second electromagnet is disposed to have an angle of 0 to 45 degrees with the connection part. ### Claim 10 A method for driving a microrobot, the method comprising an electric current application operation of applying an electric current to an electromagnetic field apparatus including one or more electromagnets so as to generate an electromagnetic field, wherein the electromagnetic field apparatus comprises: a first electromagnet including a first support plate disposed on one side thereof, a second support plate disposed opposite the first support plate, a central part configured to connect the first support plate and the second support plate through a connection part, and a first winding wound along a circumference of the central part; one or more second electromagnets, each including a core part having a lower surface disposed to have a predetermined angle with the first electromagnet and an upper surface disposed opposite the lower surface, and a second winding wound between the upper surface and the lower surface; and a bed which includes one or more curved parts and a support part disposed between the one or more curved parts, and in which the first electromagnet and the one or more second electromagnets are disposed. ### Claim 11 (depends on 10) The method of claim 10, wherein the lower surface of the second electromagnet is disposed to have an angle of 0 to 45 degrees with the connection part. ### Claim 12 (depends on 10) The method of claim 10, wherein the number of the second electromagnets is two, and electric currents of opposite directions are applied to the second electromagnets, respectively. ### Claim 13 (depends on 10) The method of claim 10, further comprising an adjustment operation of adjusting a position of a microrobot by adjusting an intensity or a direction of an electric current applied to each of the first electromagnet and the second electromagnets.