Biodegradable microrobots for hyperthermia therapy and drug delivery

This technology involves dispersing magnetic and drug particles within the body of an implantable microrobot. By applying an external alternating magnetic field, the magnetic particles generate heat, which accelerates the degradation of the biodegradable polymer body, allowing for precise control over the dosage and release rate of the drug.

Conventional technologies suffer from issues such as the loss of magnetic particles and drugs due to blood flow, as well as limitations in surface-coating methods that prevent real-time adjustment of drug release rates, making it difficult to deliver the appropriate dosage to the target lesion.

This technology embeds magnetic and drug particles within a biodegradable polymer body. By adjusting the duration and intensity of the external magnetic field, it induces heat in the magnetic particles to control the polymer degradation rate, thereby regulating the amount and timing of drug release. Applicable to surgical robots, interventional systems, and medical automation, it minimizes the loss of magnetic particles and drugs and prevents them from migrating to unintended areas, significantly improving the efficiency of hyperthermia therapy and drug delivery.

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Key Features:

• A body formed of biodegradable polymer that determines the shape of the microrobot
• A configuration containing magnetic particles and drug particles distributed within the body
• Drug release dosage within the body is controlled based on the duration of the external magnetic field application
• A structure where magnetic particles heated by a magnetic field accelerate polymer degradation to release the drug

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This invention was developed with support from the Ministry of Science and ICT for the Intelligent Microrobot-based Body-on-a-Chip for Precision Medicine project.

System Control Device and Method

This technology is an algorithm that calculates sliding variables based on a system's position error and rate of change over time, applying them to a nonlinear adaptive load model to adjust PID controller gains in real time.

Conventional PID controllers use fixed gain constants, which can lead to degraded control performance or difficulty in maintaining robustness when system loads change, often requiring repetitive trial and error by the user to determine optimal gains.

This technology uses sliding variables as inputs for a nonlinear adaptive load model to adaptively calculate PID gains. It includes control logic that reduces gains to a lower limit to maintain stability when sliding variables increase due to load changes, and resets gains upon detecting load variations via sensors. Applicable to industrial robots and automation systems, this method improves the robustness of the system controller against significant load fluctuations by adaptively modifying the PID gains.

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Key Features:

• A gain determination unit that applies sliding variables, which vary according to system load changes, to a preset adaptive load model, and adaptively adjusts gains using the adaptive load model to which the sliding variables are applied.
• A system control device wherein the gain determination unit reduces the gain until a preset lower limit is reached when the sliding variable increases.
• A gain determination unit that adaptively adjusts gains using an adaptive load model to which sliding variables are applied.
• A PID controller configured to control system behavior and having adjustable gains.

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This invention was developed with support from the Ministry of Science and ICT for brain mapping-based robot rehabilitation.

Robot Joint Structure

This technology forms a joint by connecting two spaced-apart bodies with a cross-flexure hinge consisting of two pairs of intersecting connectors. When applied to the finger joints of a robotic hand, it achieves both high rigidity and a compact design.

Conventional robot joint structures often lack sufficient rotational rigidity, limiting their precision in gripping tasks. Furthermore, the bulky nature of these joints makes it difficult to achieve a compact, miniaturized design for robotic hands.

This technology connects the first and second bodies using two joint units arranged in mirror symmetry (each containing two intersecting connectors) to enhance rigidity. By integrating a pulley and wire drive system within the bodies, it maximizes the spatial efficiency of the robotic hand. Applicable to industrial robots and automation systems, it improves the stability and rotational stiffness of robotic hands, enabling them to effectively mimic human hand movements.

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Key Features:

• A second joint unit positioned to face the first joint unit, connecting the first body and the second body
• A robot joint structure where the first joint unit and the second joint unit are cross-flexure hinges.
• A first joint unit connecting the first body and the second body
• A second body positioned at a distance from the first body

Microrobot for Temperature Control in Targeted Regions Within the Body

This technology is a mechanism that heats magnetic particles within an internally administered microrobot using an external alternating magnetic field. It utilizes light-emitting particles (quantum dots) that emit near-infrared light based on temperature, allowing for non-invasive, real-time feedback control of heating temperatures from outside the body.

Conventional hyperthermia treatments carry a high risk of damaging surrounding healthy cells due to overheating, as they cannot directly measure or control the temperature of the magnetic particles.

This technology features a microrobot composed of a polymer embedded with magnetic particles and temperature-dependent near-infrared-emitting quantum dots. An external measurement device detects the intensity of the emitted light, allowing for precise adjustment of the external magnetic field intensity via PID control. This can be applied to robotic gripping, precision measurement, and automated equipment, improving temperature control accuracy and preventing overheating and damage to healthy cells during medical treatment.

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Key Features:

• Light-emitting particles administered into the body to reach a target region, emitting light with intensity that varies according to temperature
• Configuration including magnetic particles whose temperature changes according to the intensity of an external magnetic field
• Structure characterized by the light-emitting particles being quantum dots and the emitted light being near-infrared
• Configuration where light passes through the skin to be emitted outside the body, with its intensity measured by an external measurement device

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This invention was developed with support from the Ministry of Science and ICT for the Intelligent Microrobot-based Body-on-a-Chip for Precision Medicine project.

Self-Propelled Microrobots Using Bio-Based Organisms

This technology is a hybrid microrobot system that combines the chemotaxis of therapeutic cells (bacteria/immune cells) with the magnetic propulsion of magnetic nanoparticles. It prevents internal accumulation by inducing a dissociation temperature (Td) through external heat sources (near-infrared/alternating magnetic fields) to separate the cells from the nanoparticles.

Existing microrobots face limitations in precise targeting during magnetic propulsion, and the magnetic nanoparticles injected into the body can remain, causing cytotoxicity and side effects. Furthermore, bacteria-based robots often suffer from low lesion-reaching rates due to blood flow resistance.

This technology uses ligand-receptor binding (such as biotin-avidin) to attach magnetic nanoparticles to therapeutic cells. After transporting them to the lesion via an external magnetic field, the system applies localized heat to break the bond, allowing the separated magnetic nanoparticles to be retrieved using an external magnetic field, thereby resolving the retention issue. Applicable to industrial robots and automated systems, it enables selective drug release through cell sorting for therapy, improving treatment efficiency and minimizing side effects.

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Key Features:

• Microrobot comprising ligand-introduced therapeutic cells and receptor-introduced magnetic nanoparticles
• Magnetic nanoparticles are attached to the surface of therapeutic cells via ligand-receptor binding
• Therapeutic cells include attenuated genetically modified bacteria or immune cells
• Structure that dissociates at temperatures above body temperature due to heat generated by magnetic nanoparticles when an external magnetic field is applied

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This invention was developed with support from the Ministry of Science and ICT for brain mapping-based robot rehabilitation.

Method for Manufacturing Ultra-Fine 3D Microrobots Using Laser-Processed Polymer Molds

This technology involves creating a polymer mold using 3D laser lithography, then injecting and sintering a non-polymer material containing magnetic metal particles via plating or dipping to form the entire microrobot structure out of magnetic metal.

Existing photocurable polymer-based microrobots suffer from non-uniform magnetization distribution during magnetic material deposition, and mixing in magnetic particles leads to reduced laser transmittance, lower manufacturing precision, and insufficient structural rigidity.

This technology first creates a high-precision mold using 3D laser lithography, then injects and sinters a non-polymer material (containing magnetic substances) into the mold to metallize the entire structure, ensuring uniform magnetization intensity and high rigidity. Applicable to industrial robots and automation systems, it enhances the rigidity of 3D microrobots and improves magnetization intensity for better control within magnetic fields.

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Key Features:

• Preparing a mold containing microstructures using a 3D laser lithography system
• Manufacturing a 3D microrobot by injecting non-polymer material into the mold
• Producing a sintered body by injecting non-polymer material with a magnetic film formed via plating or dipping into the empty spaces of the mold
• A manufacturing method where the magnetic metal is homogeneously distributed once the sintered body is separated from the mold

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of 3D precision microstructures and foundational technology for cell/drug delivery.

Dual-Grip Robotic Hand

This technology features a mechanism that performs dual-stage gripping and hemostasis by first securing an irregular object (such as a patient's limb) with mechanical fingers, followed by applying physical pressure using an inflatable air cuff. It maintains the grip state using a ratchet gear and locking member, while controlling gripping stability through pressure sensors and a through-type primary sensor unit.

Conventional robotic hands struggle to accurately grip irregular objects like human limbs due to structural limitations in their finger design, making it difficult to perform precise tasks such as arterial compression for hemostasis.

This technology consists of a link-structured finger unit, a finger drive unit, an air cuff, an air supply unit, a laser sensor (primary sensor) for object positioning, a pressure sensor (secondary sensor) for grip force detection, and a grip maintenance unit based on a ratchet/locking member to secure the mechanical grip. It can be applied to logistics picking, service robots, and manufacturing automation to improve object handling capabilities, enhance the accuracy of hemostasis, and prevent excessive clamping force or skin damage.

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Key Features:

• A grip maintenance unit featuring a locking member that engages with the teeth of a ratchet gear to prevent the fingers from rotating in the direction of extension, along with an elastic member that biases the locking member toward the ratchet gear.
• A finger drive unit that actuates the fingers in either a bending or extending direction.
• A pair of opposing finger units arranged to grip an object.
• An air supply unit that provides air to the air cuff.

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of safety-guaranteed soft manipulators and multifunctional gadgets for relief operations.

Implementation Method of Parallel Processing Algorithm for Real-Time Path Generation of High-Degree-of-Freedom Robot Manipulators

This technology is a path post-processing algorithm that determines optimal, collision-free joint configurations in real time by parallelizing the search for all possible joint combinations across multiple sub-paths, thereby efficiently improving the manipulator's motion trajectory.

Existing adaptive partial shortcut (APSC) techniques sample and select a fixed number of joints during iterative path refinement, which leads to increased computation time as iterations grow and makes it difficult to respond to dynamic environments.

This technology divides the manipulator's motion path into multiple sub-paths and performs parallel computations on all possible joint combinations for each sub-path to select and apply the optimal configuration in real time, maximizing path refinement efficiency. Applicable to logistics transport, service robots, and autonomous platforms, it reduces total computation time and enables parallel processing in dynamic environments, improving path generation efficiency for high-degree-of-freedom robot manipulators.

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Key Features:

• Determining sub-paths from the existing path and initializing each sub-path
• Determining all possible joint combinations for each sub-path
• Performing parallel path refinement for each joint combination to generate improved sub-paths
• Replacing existing sub-paths with those that provide the greatest path refinement effect

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This invention was developed with support from the Ministry of Science and ICT's Human-Centric CPS research program.

Autonomous Floor Finishing Installation System

This technology is a system where multiple autonomous robots (for coating, loading, transporting, installing, and charging) collaborate to install floor finishing materials. It features precise positioning using 3D localization devices and active markers, as well as a high-precision installation mechanism based on vision-sensor-driven obstacle avoidance and floor surface recognition.

Relying solely on manual labor for the transport and installation of increasingly large and heavy construction materials results in low work efficiency. Existing remote-controlled robots are limited by the operator's line of sight, making fine adjustments difficult, and the high rate of human error on construction sites poses significant safety risks.

This technology establishes an autonomous robot swarm control system. A 3D localization device transmits positional data to the robots via active markers, while a manipulator structure—combining floor-sensing sensors and vertical/horizontal arms—precisely installs finishing materials according to the floor's coordinate system. By improving the efficiency and safety of material installation on construction sites, this system can also be adapted for rehabilitation training, gait assistance, and various medical and welfare services.

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Key Features:

• 3D localization device that recognizes the position and orientation of multiple active markers installed on the job site using vision-integrated distance sensors
• Vertical arm attached to one side of the horizontal arm, operating in an up-and-down motion to install floor finishing materials
• Work-oriented vision sensor mounted on one side of the vertical arm for moving and installing floor finishing materials
• Multiple floor-imaging sensors that recognize the shape of the floor surface where adhesive has been applied to a uniform thickness

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This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.

Series Elastic Actuator

This technology is a Series Elastic Actuator (SEA) structure that measures torque and controls rotation angle without changes to the moment arm by utilizing wire tension during relative rotation between a first body (including a motor) and a second body. The wire's center is wound around a pulley seat, with both extended ends connected to preloaded first and second springs and adjustment devices.

Conventional series elastic actuators suffer from difficulties in accurate torque measurement and control because the spring is positioned between the output stage and the link, causing the spring to bend or rotate during deformation, which alters the moment arm.

This technology maintains a constant moment arm by securing the center of the wire to the outer circumference of the pulley and supporting the extended ends through a preloaded spring system within the second body. It establishes a structure that allows for precise control and measurement of wire tension via adjustment devices and a housing design. Applicable to robotic gripping, precision measurement, and automation equipment, it improves torque measurement accuracy and facilitates torque measurement based on external forces.

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Key Features:

• A wire comprising a central portion curved around a seating area, and first and second straight extension portions extending from both ends of the central portion.
• A pulley configured to rotate about a first rotation axis when the rotor rotates, equipped with a seating area that forms an arc around the first rotation axis.
• A first adjustment housing accommodating a first spring, a first neck portion, and a first adjustment nut.
• A first adjustment device coupled to the first extension portion to move in tandem with it.

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This invention was developed with support from the Ministry of Science and ICT for the commercialization of immersive human-robot multi-sensory interaction technology.

Underground Utility Tunnel Maintenance Robot System

This technology is an integrated management system that utilizes a rail-based mobile platform to continuously monitor facilities within underground utility tunnels and deploys precision inspection and maintenance robots when hazardous areas are detected.

Existing single-robot systems struggle with precision inspections due to the extensive length of underground utility tunnels and are limited to basic monitoring, making them incapable of performing complex facility maintenance tasks.

This technology deploys continuous inspection robots, precision inspection robots, and fire suppression robots along a rail system. A control server identifies hazardous areas and automates precision scanning and maintenance using specialized tools. Applicable to robotic gripping, precision measurement, and automated equipment, it enables remote monitoring, predictive maintenance, and repairs for power lines, communication cables, and various piping systems, thereby enhancing the efficiency and safety of underground utility tunnel maintenance.

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Key Features:

• A battery control unit that communicates with the continuous inspection robot; when the robot stops at a designated location, the unit opens the battery cover to charge the battery via wired or wireless methods, or replaces the battery by retrieving the depleted one and inserting a pre-charged unit.
• A control server that identifies target areas within the underground utility tunnel where risks are anticipated based on video and environmental sensor data received from the continuous inspection robot, and transmits commands for precision inspection of those target areas.
• An underground utility tunnel maintenance robot system that commands the fire suppression robot located closest to the target area among a pair of fire suppression robots to perform fire extinguishing operations.
• A continuous inspection robot that travels along rails installed on the floor or ceiling, collecting video footage of facilities including lines and pipes, as well as environmental sensor data, and transmitting this information to the control server.

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This invention was developed with support from the Ministry of Science and ICT's AI-based Anti-Drone Active Control Technology Development project.

Robot System

This technology precisely calibrates the position of a robot arm's end-effector by using external sensors to track markers attached to the arm and a fixed reference marker, calculating the error between the robot arm's real-time displacement and the sensor data.

In industrial robotics, calibrating the position of a robot arm often requires cumbersome manual teaching or the input of separate setup devices, and errors occurring during the teaching process have historically made high-precision tasks difficult to perform.

This technology simultaneously senses a ring-shaped first marker attached to the robot arm and a second marker serving as an external reference point using an external sensor unit. By comparing the robot arm's actual operational displacement with the changes in marker position and performing geometric calculations, it derives position calibration values for the end-effector. Applicable to robotic gripping, precision measurement, and automated equipment, it improves the accuracy of positioning a robot arm in free space using markers and sensor units.

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Key Features:

• A sensor unit positioned away from the robot that senses the locations of the first and second markers
• A first marker attached to a region of the robot arm and a second marker positioned away from the robot
• The preset pattern of the first marker is a reference pattern that extends toward the center of the ring-shaped outer circumference
• A robot comprising a robot arm and a drive unit that operates the robot arm

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This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of intelligent controller technology applicable to various multi-joint commercial robots and specialized for bin-picking and loading/unloading tasks.

Towing-type autonomous multi-purpose construction robot system

This technology is a control and kinematic operation system for a towing-type robot, where an autonomous transport robot (100) loaded with flooring materials is towed by an autonomous working robot (200), which then receives the materials sequentially from the transport robot to automatically install them onto the floor surface.

Existing construction robots are limited to specific tasks, resulting in low versatility. Furthermore, because a single robot is responsible for both transport and installation, work efficiency is reduced, and the lack of specialized sensor modules for floor construction limits their practical application in the field.

This technology involves building a robot system where the transport robot’s material supply mechanism (lift drive and supply unit) pushes the bottom-most material to the working robot’s gripper module (arm). The two robots are connected by a coupling link and move together, performing sensor-fusion-based driving control and real-time installation inspection. Applicable to logistics, service robots, and autonomous platforms, this system improves construction safety by isolating workers from high-risk tasks, enhances construction productivity, and reduces the incidence of musculoskeletal disorders.

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Key Features:

• A first mobile platform on which a storage bin containing multiple flooring materials is placed
• A material supply mechanism installed on the first mobile platform that pushes and supplies materials one by one, starting from the bottom-most piece
• A second mobile platform connected to the first mobile platform via a coupling link, which tows the transport robot from the front
• A gripper module installed on the second mobile platform that receives the supplied materials and installs them on-site

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This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.

Variable-Length Autonomous Multi-Purpose Construction Robot System

This technology is a system that connects an autonomous transport robot (including a loading bay) and an autonomous work robot equipped with a gripper module using a variable-length coupling link. It features a mechanical coupling and control mechanism that allows the work robot to approach the transport robot, extract finishing materials, and move to install them onto floor leveling materials.

Existing construction robots faced limitations in field application due to task-specific constraints, reduced work efficiency, and a lack of sensor modules for floor installation.

This technology designs a structure for precise material extraction by controlling the distance between the two platforms through the variable-length function of the coupling link. By integrating a gripping mechanism based on arm parts and embossing protrusions, along with motion control and inspection sensor modules, it automates autonomous installation and quality checks. Applicable to logistics, service robots, and autonomous platforms, it enhances construction efficiency and safety by automating tasks and reducing the need for manual labor in high-risk activities.

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Key Features:

• Autonomous transport robot (first mobile platform) featuring a loading bay with evenly spaced guide pieces for stacked floor finishing materials
• Second mobile platform connected to the first mobile platform via a variable-length coupling link to tow the transport robot
• Gripper module installed on the second mobile platform to extract and install finishing materials one by one
• Work robot that extracts finishing materials by adjusting the length of the coupling link to approach or retract from the second mobile platform

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This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.

Multipurpose Autonomous Construction Robot System

This technology features a cube-shaped robot body and a mobile platform as its core modules. It allows for flexible adaptation to construction sites by modularly attaching and detaching components such as articulated arms, lift arms, and drive modules via first and second interfaces located on each side of the unit.

Existing construction robots are often limited to specific tasks, resulting in low versatility. Furthermore, the need to operate separate dedicated robots for each process leads to excessive development and investment costs.

This technology enables the selective attachment of work modules to the sides of the robot body and drive modules to the mobile platform via specialized interfaces. It includes autonomous navigation using real-time positioning data and floor-marker-based installation positioning. Applicable to logistics, service robotics, and autonomous platforms, this system improves the adaptability of construction robots to various tasks and environments, while reducing development costs and investment risks, ultimately enhancing productivity and safety.

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Key Features:

• Multiple types of work modules that can be selectively attached to the first interface provided on each side of the robot body.
• A mobile platform equipped with a second interface for the electro-mechanical coupling of selected drive modules from various types, designed to move the robot body.
• A multipurpose autonomous construction robot system that determines the installation position of flooring materials using marker corner coordinates to control the flooring installation tasks of an articulated arm module.
• A robot body equipped with a first interface for the electro-mechanical coupling of work modules, each designed to perform a specific task selected from multiple types.

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This invention was developed with support from the Ministry of Science and ICT for the development of intelligent painting and masking collaborative robots.