Catheter-based magnetically actuated microrobot capable of wireless power transmission

This technology is a system that delivers power wirelessly to a microrobot equipped with a wireless power transmission module at the tip of a catheter, which can be detached at a specific point within the body. It includes a magnetic resonance-based wireless power transfer mechanism between the catheter and the robot, as well as an alignment and reconnection mechanism using ultrasonic sensors.

Existing microrobots require external magnetic fields to be induced deep into the body to supply power, which leads to significant energy loss and difficulties in securing sufficient space for procedures due to the need for large coil systems.

This technology utilizes a structure where a catheter transports the robot to a specific location, and after the robot is detached, the catheter's power transmission unit (helical/planar coil) and the robot's power supply unit exchange power via magnetic resonance. The reconnection and alignment of the catheter and robot are controlled through a positioning means (ultrasonic sensor). Applicable to surgical robots, interventional systems, and medical automation, it minimizes power supply efficiency degradation and enables stable data transmission, thereby enhancing the overall efficiency of power and data delivery.

‍

‍

Key Features:

• Catheter equipped with a power transmission unit for wireless power delivery and a microrobot coupling unit
• Microrobot propulsion unit providing mobility to the microrobot
• Power supply unit that receives power wirelessly via the power transmission unit
• Microrobot working unit equipped with tools to perform specific tasks within blood vessels using the supplied power

‍

This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a microrobotic medical system for the treatment of chronic total occlusion in myocardial infarction.

Horizontal Microsurgical Scissors

This technology is a microsurgical instrument that utilizes the deformation of a tension pressure unit within a surgical robot arm to convert vertical physical movement into horizontal motion via a bent link structure, thereby driving the scissor mechanism to open and close the blades.

Existing surgical tools are limited to vertical movement because the scissor blades are aligned with the robot arm, which reduces accessibility and operational efficiency when dissecting or incising vertically elongated scar tissue.

This technology features a bent internal core that positions the scissor blades along a horizontal axis. It employs a mechanism that converts vertical transfer force into horizontal driving force by transmitting pressure changes from the tension pressure unit through a vertical transfer tube, a transfer connection tube, and a horizontal transfer tube. Applicable to surgical robots, interventional systems, and medical automation, it enables users to perform procedures with greater control and accuracy, thereby enhancing the precision and effectiveness of microsurgery.

‍

‍

Key Features:

• A horizontal microsurgical scissor for incising patient lesions, comprising a scissor robot arm that includes a scissor unit for cutting micro-tissues,
• a tension pressure unit provided on the outer circumference of an internal core that changes in length due to pressure,
• a scissor opening/closing unit that opens and closes the scissor unit according to the movement of an external barrel,
• and an external barrel with one end formed in close contact with the lower end of the tension pressure unit, moving in the opposite direction of the one end according to the length change of the tension pressure unit.

‍

This invention was developed with support from the Faculty Start-up Fund of the Ministry of Science, ICT and Future Planning.

Auction-Based Charging Scheduling for Multi-Drone Networks

This technology relates to a charging scheduling method and apparatus for multi-drone networks, where a mobile charging station determines the charging sequence for multiple drones.

Drones have limited mission durations due to battery capacity constraints, and in networks operating multiple drones, the efficient allocation of limited charging resources is a critical factor for system performance.

This technology improves the efficiency of resource allocation and overall system utility by determining charging priorities for each drone through an auction process and strategically deploying mobile charging stations.

‍

‍

Key Features:

• Registering charging time slots as auction items when the charging station becomes idle
• Initiating an auction by receiving multiple bids for charging time slots from various drones
• Calculating a deep learning-based modeling function by comparing each bid against a set reserve price
• Awarding charging time slots to drones that submitted bids higher than the reserve price

‍

This invention was developed with support from the Ministry of Science and ICT for research on 5G mobile communication technology for virtual reality between mobile entities.

Robotic Forearm Structure Implementing Radioulnar Rotation

This technology relates to a forearm structure featuring a wire mechanism for implementing and securing the rotational degrees of freedom of the radioulnar structure, simulating the pronation and supination movements of the human forearm in robotic applications.

Conventional robotic prosthetic hands are often heavier than actual arms, have limited degrees of freedom, and differ from the human body in both appearance and movement, making it difficult to achieve natural motion.

By using wires to implement and secure the intersecting rotational structure of the radius and ulna, this technology simultaneously ensures both rotational freedom and load-bearing capacity.

‍

‍

Key Features:

• A first reference joint serving as the base for the forearm structure, and a plurality of forearm segments with one end connected to the other side.
• A second reference joint connected to the other ends of the plurality of forearm segments, serving as the reference for forearm rotation.
• Fixing wires that secure the plurality of forearm segments to constrain displacement in directions other than the forearm's rotational degrees of freedom.
• An intersecting configuration of a first forearm segment connected to the second rotation axis of the second reference joint and a second forearm segment connected to the first rotation axis of the first reference joint.

‍

This invention was developed with support from the Ministry of Science and ICT’s Phase 2 (3rd) Bionic Wrist Design Technology Development project and the Human-Centered Soft Robot Research Center.

Robot Go Game System Using Collaborative Placement and Removal Control of Multiple Robot Arms

This technology is a Go game system that receives placement coordinates on a virtual board from a client, controls one of several robot arms to place a Go stone on a physical board, and manages the retrieval of stones by the robot arms when the game analysis indicates a removal is necessary.

Existing Go game systems were limited by physical space, as they required users to sit face-to-face with a robot, and they struggled to efficiently remove multiple stones when necessary.

This technology proposes a method where, when multiple stones need to be removed, a second robot arm is moved to an intermediate waypoint and held in standby before the first robot arm completes its removal operation. It can be applied to remote match services and educational or recreational game robots, providing an immersive gaming experience that transcends physical boundaries.

‍

‍

Key Features:

• Multiple robot arms that perform placement operations within designated areas on the board
• A server that controls the robot arms to place Go stones in accordance with placement coordinates provided by the client
• A configuration that controls the robot arms to retrieve Go stones when game analysis following a placement indicates a removal is required
• A configuration that controls a second robot arm to move to an intermediate waypoint and wait when multiple stones need to be removed

‍

This invention was developed with support from the Ministry of Education for the development of fundamental source technology for a symptom-customized IoT multimodal social robot therapy engine platform, which features patient internal/external situational awareness and learning functions for the alleviation of antipsychotic disorders.

3D Seafloor Mapping Technology Using Data Registration of Multibeam and Profiling Sonars

This technology reconstructs 3D seafloor terrain by cross-matching horizontal profile data acquired from multibeam sonar with vertical profile data from profiling sonar based on threshold points, and extracting feature lines using a weighted RANSAC algorithm.

Underwater optical camera use is limited, necessitating the use of sonar. However, 2D sonar images often suffer from lost height information, object distortion based on viewing angles, and low signal-to-noise ratios, making accurate seafloor reconstruction difficult.

This technology proposes a method to correct for lost height information by reflecting the difference in ultrasonic scanning angles between sonars to cross-calibrate and register horizontal and vertical profile data. It enables the acquisition of precise 3D terrain maps using only sonar, with applications in seafloor surveys, offshore plant design, and underwater tunnel construction.

‍

‍

Key Features:

• Acquiring horizontal profile data using multibeam sonar and vertical profile data of the same terrain using profiling sonar
• Extracting feature lines for both multibeam and profiling sonar data using vertical cross-section profiles
• Cross-matching corresponding points between the two profiles using threshold points where the detection target exits the sonar's detection range
• Grouping points representing the seafloor and objects through clustering and determining a linear model connecting the two points

‍

This invention was developed with support from the Smart Underwater Tunnel System Research Center of the Ministry of Science and ICT.

Localization technology evaluating sensor reliability through ray-tracing-based distance type estimation

This technology is a reliability evaluation method for mobile robot localization that estimates the distance type of laser range sensor measurements and calculates reliability weights for those types through sample pose-based reference distance calculation and distance error analysis.

Existing laser range sensor-based localization suffers from degraded scan-matching performance when measurements are distorted by dynamic obstacles, environmental changes, or optical anomalies such as glass and mirrors.

This technology proposes a method that extracts preliminary samples from an estimated pose to generate a ray-tracing-based reference distance set, estimates the distance type based on the error from the measured distance, and then calibrates the observation model's reliability by combining the frequency and deviation of the types. It can be applied to service robots in commercial facilities with many glass walls, fundamentally reducing localization failures caused by reflection and transmission.

‍

‍

Key Features:

• A step of extracting a plurality of preliminary samples based on the estimated pose of the current location
• A step of calculating a reference distance set by applying each preliminary sample to a reference distance calculation algorithm
• A step of estimating the distance type through the error between the reference distance set and the measured distance
• A configuration that calculates reliability weights by combining the frequency of the estimated type with the deviation from the reference distance

‍

This invention was developed through the following projects: the Intelligent Growing Autonomous Driving System for Unmanned Vehicles Operating Safely in Congested Residential Road Environments (Ministry of Science, ICT and Future Planning); the Development of Commercial-Grade Autonomous Driving Controllers for Unmanned Transport Robots in Diverse Environments (Ministry of Science, ICT and Future Planning); the Development of Learning-Based Robot Mobility Intelligence for Robust Indoor/Outdoor Integrated Autonomous Driving (Ministry of Trade, Industry and Energy); and the Agricultural Production Unmanned Automation Workforce Training and Research Support (Ministry of Agriculture, Food and Rural Affairs).

Rotary Brake Device Using Mechanical Contact Between a Locking Protrusion and a Stopper

This technology is a mechanical rotary brake device and a robot arm equipped with it, featuring a locking member supported by a buffer spring on a rotation support coaxially coupled to a rotating body, where a stopper physically contacts the locking protrusion to restrain the rotation.

Existing electronic clutch brake systems have limitations in precision control due to slippage, while friction-based surface contact methods suffer from increased volume, weight, and production costs.

This technology proposes a method where a solenoid-driven stopper makes direct contact with a locking protrusion to mechanically stop rotation, while a buffer spring absorbs the impact force. This achieves reliable, slip-free braking while protecting components. It can be applied to emergency stops and posture maintenance systems for robot arms, ensuring both safety and durability in a compact, lightweight design.

‍

‍

Key Features:

• A rotation support coupled to the rotating body to rotate together by sharing the same axis of rotation
• A locking member rotatably supported on the rotation support and equipped with a radially protruding locking protrusion
• A stopper movably positioned to contact the locking protrusion and restrain the rotation of the rotation support
• A buffer spring that absorbs the impact force generated during contact to prevent component damage

‍

This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a low-cost robot system based on multi-degree-of-freedom passive gravity compensation.

Gravity-Compensated Robot Arm Combining a Dual Parallel Four-Bar Linkage and a Spring Counterbalancer

This technology is a robot arm equipped with a gravity compensation device that places an elastic member-based counterbalancer on the pitch joint of a multi-degree-of-freedom robot arm, linking it with a parallel four-bar linkage structure to mechanically offset gravity torque caused by self-weight and secure the joint's range of motion.

Existing parallel four-bar linkage-based gravity compensation devices have technical limitations, such as a range of motion restricted to less than 180 degrees due to dead-point issues, and wire or belt-based systems that suffer from poor durability and reproducibility.

This technology proposes a method that utilizes a dual parallel four-bar linkage mechanism and configures a counterbalancer module—including a connecting rod, slider, guide bar, and spring—on the first and second links, respectively, to compensate for gravity torque during link rotation using the spring's restoring force. It can be applied to industrial robot arms and collaborative robots, significantly reducing actuator capacity and energy consumption while expanding the range of motion.

‍

‍

Key Features:

• A second link main body and a second link joint body connected to the first link via a first pitch joint
• A third link connected to the second link via a second pitch joint, forming a dual parallel four-bar linkage
• A first pitch joint drive unit supported by the first link to rotate the second link
• A counterbalancer including a connecting rod, slider, guide bar, and spring to offset gravity torque during link rotation

‍

This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of next-generation manufacturing robot technology for workspace sharing and smart factory applications.

Robot-Assisted Bone Fragment Positioning System Using Two-Stage Coordinate Registration and Feature Point Origin Setting

This technology is a robot-assisted bone fragment positioning system and method that synchronizes the coordinate systems between medical image-based surgical planning and the actual surgical environment through a two-stage registration process, and automatically controls bone fragment movement by setting anatomical feature points as the center point of the robotic tool.

Conventional surgical robots have faced challenges where the manual setting of anatomical feature points by surgeons is time-consuming, and registration accuracy can be compromised by the surgeon's level of expertise or environmental factors.

This technology proposes a method that calculates the displacement between the actual model in pre-operative medical images and the virtual model post-surgery, performs coordinate registration through marker-based displacement tracking of the robotic end-effector and bone fragments, and generates control signals by mapping feature points to the origin of the robotic tool. This approach reduces registration time and improves surgical accuracy. It can be utilized in orthopedic and oral and maxillofacial fracture reduction surgeries, enhancing the consistency of surgical outcomes by shortening registration time and reducing reliance on the surgeon's skill level.

‍

‍

Key Features:

• Virtual model generation unit that sets feature points on the actual model of the bone fragment pre-operatively and generates a virtual model post-operatively
• First registration unit that aligns the physical spatial coordinate system of the robotic end-effector with the spatial coordinate system of the image
• Second registration unit that aligns coordinate systems based on the displacement of the robotic end-effector and the bone fragment
• Origin setting unit that establishes feature points as the origin of the coordinate system for the robotic tool, and a control unit that generates control signals

‍

This invention was developed with support from the Ministry of Health and Welfare's project for the development of clinical-centered maxillofacial surgical platforms and transparent display-based image-guided maxillofacial surgery technology.

Image-based 6-DOF visual odometry technology integrating line and plane structural features

This technology is a structural feature-based visual odometry method that estimates a camera's 6-DOF trajectory in orthogonal environments by combining line information from color images with plane information from depth images. It constructs a Manhattan frame by extracting vanishing directions from line information and surface normal vectors from plane information.

Existing image-based odometry techniques suffer from cumulative errors when estimating rotational movement, and methods relying solely on plane information often fail or produce inaccurate results in environments where planar surfaces are insufficient.

By utilizing line and plane information in a complementary manner, this technology recognizes spatial orientation and estimates rotational movement first to eliminate errors. It then employs the Levenberg-Marquardt algorithm to minimize feature point residuals based on depth availability, enabling precise 6-DOF trajectory estimation without cumulative drift. Applicable to indoor autonomous robots, AR/VR devices, and drone navigation, it provides an economical solution for achieving precise localization using only a camera, without the need for expensive additional sensors.

‍

‍

Key Features:

• Image acquisition unit that captures color and depth images of the current space via camera
• Structural feature extraction unit that extracts line information from color images and plane information from depth images
• Component that compares and tracks structural features between consecutive images to estimate camera rotation
• Component that estimates translational movement by compensating for rotation to minimize re-projection error, ultimately estimating the 6-DOF trajectory

‍

This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of an integrated multi-robot control system for complex disaster response.

Dual Closed-Loop Brain-Machine Interface Combining Motor Intent Decoding and Somatosensory Brain Stimulation

This technology is a dual closed-loop brain-machine interface (BMI) system and method that decodes a user's motor intent brain signals to control external devices, while simultaneously detecting the device's operational status to provide somatosensory feedback via brain stimulation patterns back to the user.

Existing brain-machine interfaces often suffer from limited control performance due to a lack of somatosensory feedback during motor execution or the inability of simple stimulation to restore actual feedback mechanisms between brain regions.

This technology generates external device control signals based on motor intent brain signals, acquires somatosensory-evoked brain stimulation patterns corresponding to the device's operational status, and utilizes stimulation frequency and timing information to calibrate patterns in real-time, thereby improving control performance through a dual feedback loop. It can be applied to prosthetic limb control, neurorehabilitation, and the treatment of brain disorders, significantly enhancing the control accuracy and user immersion of existing BMIs by restoring sensory feedback.

‍

‍

Key Features:

• Analyzing user motor intent brain signals to generate movement information based on intent
• Generating control signals for an external device that replaces a body part in response to movement information
• Acquiring and analyzing sensory signals corresponding to the operational status of the external device to generate brain stimulation patterns
• Delivering brain stimulation patterns to the user that correspond to preset somatosensory information for each operational state

‍

This invention was developed with support from the Ministry of Science and ICT for the development of an invasive upper-limb motor control brain-machine interface integrating motor control and sensory information based on human somatosensory feedback.

Gait assistance device that compensates for body weight through changes in the angle between a guide bar and cross-links

This technology provides a mechanism that moves a guide bar connected to a body-worn harness up and down by changing the intersection angle of sliding-coupled first and second links, and assists walking by detecting gait intent via sensors to control the guide bar and wheels.

Wearable robots for patients with lower-limb paralysis have faced issues with instability in mechanical structures and control algorithms, leading to risks of falling during gait and potential patient injury.

This technology adopts a first/second link structure that is cross-coupled to vary in angle according to the movement of the guide bar, thereby compensating for body weight. It assists walking by controlling the vertical movement of the guide bar and wheel rotation speed based on gait intent (forward/turning) detected by sensors. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it provides stable gait support for patients with lower-limb paralysis by compensating for body weight.

‍

‍

Key Features:

• A body-worn harness and a guide bar connected to the harness that can be raised or lowered
• A first link with one end slidably coupled to the guide bar to assist with walking
• A second link with one end slidably coupled to the guide bar in the opposite direction of the first link, and rotatably cross-coupled with the first link
• A leg link coupled with a variable-length structure that changes length according to the intersection angle formed by the first and second links

External force sensor that detects the magnitude and position of external force using optical power loss in a U-shaped optical waveguide

This technology detects the magnitude and position of an external force by arranging an optical sensing unit, composed of a flexible waveguide body and a core, in a U-shape to measure optical path deformation and optical power loss caused by external pressure.

Existing sensors for robot grippers are difficult to miniaturize due to their complex structures, involve complicated manufacturing processes, and incur high production costs, along with issues related to sensor calibration.

This technology is an optical sensor structure that features a flexible waveguide sensing unit wrapped in a U-shape around an inner layer, with light-emitting and light-receiving grooves at both ends of the sensing unit, and is covered by an outer layer and a protective plate to facilitate force transmission and sensor protection. It can be applied to robot grippers, tactile sensing, and precision measurement, enabling miniaturization and simplified manufacturing while providing precise detection of external forces.

‍

‍

Key Features:

• First and second external force sensing units arranged to wrap around the longitudinal ends of the inner layer in a U-shape
• Each external force sensing unit includes a flexible waveguide body and a core inserted inside to provide an optical path
• The first and second external force sensing units are provided with different light sources and are configured to be spaced apart from each other at the ends of the inner layer
• A plate covering the gap between the first and second external force sensing units formed at the ends of the inner layer

‍

This invention was developed with support from the Ministry of Trade, Industry and Energy for inflatable soft robotic arm technology for the care of the elderly and patients.

Micro-robot control system using a transport robot

This technology features a magnetic field generator (actuator) mounted on the end of a robotic arm or manipulator, allowing the limited workspace for micro-robot operation to be moved and expanded throughout a 3D space.

Due to coil size limitations and power efficiency constraints in magnetic field generators, the effective operating range for controlling micro-robots is typically localized and restricted.

This technology utilizes a transport robot to physically move the magnetic field generator to target spatial coordinates, thereby significantly expanding the operating range. Applicable to logistics picking, service robotics, and manufacturing automation, it improves the adaptability and control of microstructures and micro-robots by extending the operating area without requiring high electrical power.

‍

‍

Key Features:

• A magnetic field controller that works in conjunction with the magnetic field output unit to regulate the movement of microstructures or micro-robots within a specific operating range based on the output magnetic field.
• A magnetic field controller that regulates the movement of microstructures or micro-robots within a specific operating range based on the output magnetic field.
• A transport robot connected to one end of the actuator—which includes the magnetic field output unit and the magnetic field controller—that moves the controller's specific operating range through 3D space using target spatial coordinates.
• A micro-robot control system using a transport robot, including a control unit that sends a signal to the magnetic field controller to indicate that the system is ready for operation.

‍

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