Patent ID: 9373443
Filing Date: 2016-06-21
CPC Classification: A61B,H01F,Y10S

Claim Text:
1. An electromagnetic coil system for driving control of a micro-robot comprising: a pair of X-axis Helmholtz coils whose winding central axes are placed on an X axis; a pair of Y-axis Helmholtz coils whose winding central axes are placed on a Y axis; a position recognition system that detects a position and direction of the micro-robot in a workspace; a controller that controls an amount of supply of electric currents flowing to the X-axis or Y-axis Helmholtz coils in order to control movement of the micro-robot based on information about the movement of the micro-robot obtained from the position recognition system and previously input information about a path of the micro-robot; and a current amplifier that supplies the electric currents to the respective Helmholtz coils in response to a current control instruction of the controller, wherein the pair of X-axis Helmholtz coils are disposed so as to face each other, and the pair of Y-axis Helmholtz coils are disposed so as to face each other, and the X-axis Helmholtz coils and the Y-axis Helmholtz coils are vertically crossed and installed so as to form the workspace of the micro-robot.