Method for synchronizing movement control and location recognition for micro-robot by using bed-integrated electromagnetic field apparatus

A method of synchronizing driving and location recognition of a micro-robot, the method comprising:

• an image acquisition operation of acquiring an X-ray image of an Rx module by using an X-ray device;
• a current application operation of independently applying a direct current-alternating current (DC-AC) integrated current to each of a first electromagnet, a second electromagnet, and a third electromagnet included in an electromagnetic field apparatus;
• a steering operation of driving a micro-robot by applying a DC current to the first electromagnet, the second electromagnet, and the third electromagnet;
• and
• a location recognition operation of recognizing location of the micro-robot by using an AC magnetic field generated by applying an AC current to the first electromagnet, the second electromagnet, and the third electromagnet,
• wherein the location recognition operation comprises:
• a mixed signal reception operation of receiving a mixed signal generated from the Rx module included in the micro-robot by the AC magnetic field generated by applying the AC current to the first electromagnet, the second electromagnet, and the third electromagnet;
• a first extraction operation of distinguishing and extracting a frequency-specific signal from the mixed signal;
• a second extraction operation of extracting location estimation information of the Rx module from the X-ray image;
• an integration operation of integrating the frequency-specific signal with the location estimation information having two degrees of freedom (2DoF), thereby generating first location information;
• and
• a conversion operation of generating second location information having five degrees of freedom (5DoF) from the first location information.