US 12,138,412 B2
Micro-robot operating device using unidirectional ultrasonic transducer, and system using same
Chang-Sei Kim, Gwangju (KR); Jongoh Park, Gyeonggi-do (KR); Eunpyo Choi, Gwangju (KR); Byungjeon Kang, Gwangju (KR); and Hansol Lee, Gwangju (KR)
Assigned to KOREA INSTITUTE OF MEDICAL MICROROBOTICS, Gwangju (KR)
Appl. No. 17/293,556
Filed by KOREA INSTITUTE OF MEDICAL MICROROBOTICS, Gwangju (KR)
PCT Filed Jan. 29, 2020, PCT No. PCT/KR2020/001378
§ 371(c)(1), (2) Date May 13, 2021,
PCT Pub. No. WO2020/171408, PCT Pub. Date Aug. 27, 2020.
Claims priority of application No. 10-2019-0019447 (KR), filed on Feb. 19, 2019.
Prior Publication US 2022/0001157 A1, Jan. 6, 2022
Int. Cl. A61B 5/00 (2006.01); A61B 34/00 (2016.01); A61M 31/00 (2006.01); B25J 9/12 (2006.01)
CPC A61M 31/00 (2013.01) [A61B 34/72 (2016.02); B25J 9/12 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A microrobot driving apparatus using ultrasonic transducers, comprising:
an ultrasonic transducer unit comprising a plurality of ultrasonic transducers; and
a control unit controlling the plurality of ultrasonic transducers,
wherein the plurality of ultrasonic transducers is arranged to form a curved surface in a way to be directed toward a specific location in a space,
the control unit applies a signal to each ultrasonic transducer, included in the plurality of ultrasonic transducers, with a time delay in order to change a location of a focus, and
the focus indicates a vertical height where microrobots are disposed with respect to the ultrasonic transducer unit,
wherein the plurality of ultrasonic transducers is divided into n areas, each having a fan shape and having a central angle of 360°/n where n is an integer equal to or greater than 2, and is configured and driven so that a phase difference between neighboring areas is sequentially increased or decreased by 2π/n.