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

1 . 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.

2 . The method of claim 1 , wherein the electromagnetic field apparatus comprises:

the first electromagnet comprising a first support plate disposed on one side thereof, a second support plate disposed opposite to the first support plate, a center part configured to connect the first support plate and the second support plate through a connection part, and a first winding wound along a periphery of the center part;

the second electromagnet comprising a first core part comprising a first lower side surface disposed to configure a predetermined angle with the first electromagnet and a first upper side surface disposed opposite to the first lower side surface, and a second winding wound between the first lower side surface and the first upper side surface;

the third electromagnet comprising a second core part comprising a second lower side surface disposed to configure a predetermined angle with the first electromagnet and a second upper side surface disposed opposite to the second lower side surface, and a third winding wound between the second lower side surface and the second upper side surface; and

a bed comprising one or more bent parts and a support part disposed between the one or more bent parts, the bed having the first electromagnet, the second electromagnet, and the third electromagnet arranged therein.

3 . The method of claim 1 , wherein the first extraction operation is performed using a Fast Fourier Transform (FFT) algorithm.

4 . The method of claim 1 , wherein the second extraction operation comprises extracting the location estimation information of the Rx module from the X-ray image by labeling coordinates at which the Rx module is estimated to be located.

5 . The method of claim 1 , wherein the integration operation is performed by transmitting x, y coordinate information of the Rx module from the X-ray image to a 5DoF model.

6 . The method of claim 5 , wherein the conversion operation is performed using the 5DoF model.

7 . The method of claim 1 , wherein the conversion operation further comprises a noise removal operation, and

wherein the noise removal operation comprises removing noise from the second location information by using a Kalman filter.