Magnetic field has been considered as a safe and promising method for remote control of medical robots in body. Systems that implement electromagnetic coils can provide wide control bandwidth and on-off capability. However, scaling-up the working space of such systems for clinical use and increasing energy efficiency to reduce heat generation have always been a challenging task. The design, modeling and control methods for a magnetic actuation system with multiple mobile electromagnetic coils with decoupled movements are introduced. The high flexibility of such configuration and the proposed real-time control strategy enables the system to enlarge the working space by tracking the locomotion of the robot, deal with the irregularly shaped obstructions inside the working area, work with medical imaging systems for localization of the medical robots, generate various kind of magnetic field for actuation and conduct real-time optimization on coils' positions to enhance energy efficiency.

A device for moving a magnetic object in a container has two pairs of dipoles grouped around the container. Between the pairs of dipoles a pair of mutually concentrically surrounding quadrupoles is arranged. The dipoles and the quadrupoles are in the form of a Halbach cylinder. In this way, the magnetic object can be moved through the container particularly efficiently.

An electromagnetic actuating device. A coil unit generates magnetic field toward a medical device inserted into a human body. An actuator drives the coil unit to move back and forth, thereby adjusting the rate of a change in magnetic force or magnetic field applied to the medical device. The coil unit moves linearly back and forth depending on the body shape of a subject and the body part to be diagnosed, such that actuation force is efficiently supplied to the medical device.

The present invention discloses a method to move a magnetic capsule linearly both horizontally and linearly in a very controllable fashion, wherein the direction of a combined external magnetic field, the force experienced by the magnetic capsule, the movement direction of the capsule and magnetic direction of the magnetic capsule can be all aligned in parallel to each other.

The present invention discloses a system to control a movement of a magnetic capsule using an external magnet control system. The external magnet control system includes more than one external magnetic balls, and at least one external magnetic ball can be moved freely in five degrees of the freedom.

A method for controlling a magnetic catheter by using a magnetic-field-generated magnetic annulus is disclosed. The magnetic catheter has a free end provided with a magnetic member. A resultant magnetic field between at least two magnets generates a magnetic annulus. The magnetic catheter is placed into the magnetic annulus, so that the magnetic member is affected by the magnetic force from the magnetic annulus to guide the magnetic catheter to perform a preset motion. The magnetic catheter has a flexible front section, so that the flexible section can perform a bending motion when led by the magnetic member. The resultant magnetic field is generated by arranging the two magnets with their like poles facing each other, so that the magnetic member is thrust when entering the magnetic annulus. This facilitates the bending motion of the flexible section.

Systems for ablating tissue can include a pair of electrode assemblies. The electrode assemblies can automatically align on opposing sides of operative tissue due to magnetic interaction. One assembly can move automatically in response to the other assembly due to the magnetic interaction. Some systems are capable of cooling the electrode assemblies during ablation procedures.

A magnetic manipulation and navigation system for moving a magnetic element through a body comprising at least six electromagnets with soft-magnetic cores arranged in a predetermined position to the body. One or more of the electromagnets operate in the non-linear regime of the magnetization curve of the cores. At least one magnetic field sensor is at one or more predetermined positions outside of the operating region. In the linear region, no feedback is required to set the magnetic field strength. In the non-linear region, feedback from the magnetic field sensors is used for closed-loop control. The system has an open loop mode operation in the linear regime for fast control signals, for stabilization during displacement of the magnetic element, and a closed-loop operation in the non-linear regime for higher field strengths, to apply forces and moments on the magnetic element while it is in contact with a surface.

A method for navigating therapeutic, diagnostic or imaging agents in a vascular network or body cavity is introduced. The method is characterized by high directional gradients and a high magnetic field strength. The latter is used to saturate the magnetization of magnetic therapeutic agents such that when combined with high directional gradients, improved navigation of the magnetic therapeutic agents can be provided at various depths within a patient's body.

Systems for ablating tissue can include a pair of electrode assemblies. The electrode assemblies can automatically align on opposing sides of operative tissue due to magnetic interaction. One assembly can move automatically in response to the other assembly due to the magnetic interaction. Some systems are capable of cooling the electrode assemblies during ablation procedures.