Microrobot-based biomimetic system

Patent metadata

Field	Value
Publication number	US-12325850-B2
Application number	US-201716312757-A
Country	US
Kind code	B2
Filing date	Jun 22, 2017
Priority date	Jun 22, 2016
Publication date	Jun 10, 2025
Grant date	Jun 10, 2025

Abstract

The present invention relates to a microrobot-based biomimetic system for delivering a drug or cell, organizing microorgans, and controlling fluid flow. The microrobot-based biomimetic system according to one aspect of the present invention comprises: a network for interconnecting microorgans constituting a biometric organ model; a microrobot for delivering a targeted drug or cell while moving in the network; and a magnetic field control unit for controlling an operation of the microrobot.

First claim

The invention claimed is:

1. A microrobot-based biometric system comprising:
a plurality of chambers configured to contain microorgans, respectively, the microorgans comprising a target microorgan and a non-target microorgan;
a channel connecting the plurality of chambers that are disposed on a same surface as the channel;
at least one microrobot configured to move along the channel to perform target-directed delivery of a drug or cell; and
a magnetic field controller configured to control operation of the at least one microrobot, and comprising:
at least one global magnetic field controller configured to apply an external magnetic field to an entire area of the biometric system; and
a plurality of local magnetic field controllers configured to individually apply a local magnetic field to the plurality of chambers,

wherein when the at least one microrobot reaches an area of the non-target microorgan, a local magnetic field controller arranged in the area of the non-target microorgan, among the plurality of local magnetic field controllers, controls a plurality of micro-coils included in the local magnetic field controller to stop the plurality of micro-coils from generating the local magnetic field, and the least one global magnetic field controller controls a plurality of micro-coils included in the least one global magnetic field controller to continue to generate the external magnetic field to cause the at least one microrobot to bypass the area of the non-target microorgan,
the at least one microrobot comprises a first microrobot that comprises a cap configured to load the drug or cell and a plunger connected to the cap, and
when the first microrobot reaches the target microorgan, a local magnetic field controller arranged in an area of the target microorgan, among the plurality of local magnetic field controllers, applies a rotating magnetic field to the first microrobot to cause the plunger of the first microrobot to rotate and to cause the first microrobot to release the drug or cell from the cap.

2. The microrobot-based biometric system of claim 1 , wherein the at least one microrobot comprises a second microrobot that comprises scaffolds and is configured to transport a three-dimensional culture cell or drug that is loaded in an internal space of the second microrobot.

3. The microrobot-based biometric system of claim 1 , wherein the at least one microrobot comprises a plurality of microrobots,
wherein the global magnetic field controller simultaneously controls positions of the plurality of microrobots to collectively arrange the plurality of microrobots at preset positions of the microorgans.

4. The microrobot-based biometric system of claim 1 , wherein the microrobot pump is fixed to a wall surface of the channel.

5. The microrobot-based biometric system of claim 1 , wherein the microrobot pump is driven according to a length, height, angle, and degree of magnetization of a screw thread or blade thereof to vary a flow speed or direction of the fluid.

6. The microrobot-based biometric system of claim 1 , further comprising a feedback controller configured to monitor characteristics or a bio-change of the microorgans,
wherein the microrobot pump varies the rotation speed or rotation direction thereof by the local magnetic field varied by a blood flow simulation control signal according to a monitoring result from the feedback controller.

Assignees

• Daegu Gyeongbuk Inst Science & Tech

Inventors

• Choi Hong Soo
• Kim Jin Young
• Lee Seung Min
• Kim Sang Won

Classifications

• A61B1/04

  combined with photographic or television appliances · CPC title

• C12M41/00

  Means for regulation, monitoring, measurement or control, e.g. flow regulation (controlling or regulating chemical, physical or physicochemical processes B01J19/0006; heating or cooling apparatus for laboratory use B01L7/00; electro optical investigation of individual particles, flow cytometers G01N15/14; automatic analysis G01N35/00; controlling or regulating in general G06N) · CPC title

• C12M29/00

  Means for introduction, extraction or recirculation of materials, e.g. pumps (pumps per se F04B) · CPC title

• C12M23/16

  Microfluidic devices; Capillary tubes (integrated microfluidic structures B01L3/5027; microreactors B01J19/0093) · CPC title

• C12M21/08

  for producing artificial tissue or for ex-vivo cultivation of tissue (prostheses A61F2/00, grafts A61L27/00) · CPC title