A MICRO-ROBOT SYSTEM FOR INTRAVASCULAR THERAPY AND CONTROLING METHOD THEREOF

摘要

PURPOSE: A micro robot system for blood vessel treatment and a controlling method thereof are provided to facilitate a working area, and to implement a function identical to the function of an existing coil system longitudinally laid. CONSTITUTION: A micro robot system for blood vessel treatment includes a spherical micro robot part(100), and an electromagnetic field generating part(200). The micro robot part includes a magnet having an arbitrary magnetization direction. The electromagnetic field generating part aligns the micro robot part, determines the heading direction of the micro robot part, and generates a magnetic field in a three dimensional arbitrary direction. The electromagnetic field generating part actuates the micro robot part so that the micro robot part can self-rotate or be propelled in the heading direction. The electromagnetic field generating part has a uniform magnetic field generating module and a gradient magnetic field generating module. The uniform magnetic field generating module generates a certain magnetic field so that the micro robot part can be aligned in the three dimensional arbitrary direction, and self-rotate with changing an alignment direction. The gradient magnetic field generating module generates a magnetic field having a certain gradient so that the micro robot part can be propelled in the heading direction.