The invention relates to a method of simultaneously calibrating magnetic actuation and sensing systems for a workspace, wherein the actuation system comprises a plurality of magnetic actuators and the sensing system comprises a plurality of magnetic sensors, wherein all the measured data is fed into a calibration model, wherein the calibration model is based on a sensor measurement model and a magnetic actuation model, and wherein a solution of the model parameters is found via a numerical solver order to calibrate both the actuation and sensing systems at the same time.

The present disclosure provides a mounting assembly for attaching medical equipment to a patient table. In one particular embodiment, the present disclosure provides a mounting assembly for attaching a magnetic field generator to a patient table. The mounting assembly allows for the secure attachment of the magnetic field generator to the patient table while also allowing for easy adjustment of the positioning and location of the magnetic field generator, even after the patient is on the table. In many embodiments the mounting assembly is comprised of a mounting apparatus that attaches directly to the patient table and first and second side rails that attach to the magnetic field generator and are configured to slidably attach to the mounting apparatus. In some embodiments, the mounting apparatus and side rails are constructed of a material that provides little or no interference with the magnetic field generator.

A bone screw comprising a shaft, in which the shaft comprises a bore that is configured to fit a magnet. In addition, a bone plate comprising apertures that can fit the bone screw. The bone plate may be fastened to bone using the bone screws, and the bone screws may be oriented to generate attractive or repulsive forces. Further, a disc-shaped housing that comprises a magnet.

A magnetic manipulation system and method for moving and navigating a magnetic device in a body are provided. The system includes a robotic parallel mechanism having at least three electromagnets and at least three electromagnetic coils coupled to the at least three electromagnets, respectively. The electromagnetic coils are actuated to keep the electromagnets in static conditions or move the electromagnets along a desired trajectory, a current control unit supplying currents to the electromagnetic coils which have soft iron cores. The currents supplied by the control unit are configured to generate dynamic magnetic field in the soft iron core's linear region. The current control unit and the robotic parallel mechanism are configured to generate desired dynamic magnetic fields in desired positions within a workspace to control a magnetic device, and a three-dimensional position sensor is configured for performing a close loop control of the robotic parallel mechanism.

A magnetic manipulation system and method for moving and navigating a magnetic device in a body are provided. The system includes a robotic parallel mechanism having at least three electromagnets and at least three electromagnetic coils coupled to the at least three electromagnets, respectively. The electromagnetic coils are actuated to keep the electromagnets in static conditions or move the electromagnets along a desired trajectory, a current control unit supplying currents to the electromagnetic coils which have soft iron cores. The currents supplied by the control unit are configured to generate dynamic magnetic field in the soft iron core's linear region. The current control unit and the robotic parallel mechanism are configured to generate desired dynamic magnetic fields in desired positions within a workspace to control a magnetic device, and a three-dimensional position sensor is configured for performing a close loop control of the robotic parallel mechanism.

A control device for a capsule endoscope is provided. The control device includes a balance arm device, a permanent magnet, a 2-DOF rotary platform and an examination bed. The bottom of the balance arm device is fixed, and the active end of the balance arm device connects with a boom. The 2-DOF rotary platform is fixed below the boom and the permanent magnet is located in the 2-DOF rotary platform. The examination bed is put below the 2-DOF rotary platform, and the area between the examination bed and the 2-DOF rotary platform is an examination area.

A system and method for performing surgical procedures within a body cavity, e.g. abdomen, uses a magnetized device is utilized to allow a surgeon to control intra-abdominal organs and objects. The system and method allows a surgeon to perform an intra-abdominal procedure without the need to position surgical tools inside of the body cavity. Additional surgical ports are not necessary as the magnetized device allows the surgeon to retract or position various objects within the abdomen.

Provided is a micro robot position detection device. The device includes a micro robot position detection unit that uses a micro robot control parameter to filter a reflected signal of an ultra wide-band impulse radar signal emitted to a micro robot to extract, as a micro robot signal, a natural oscillating frequency signal generated when the micro robot is driven through control of external electromagnetic field, and analyzes the micro robot signal based on a transmission and reception parameter of the ultra wide-band impulse radar signal to calculate position information for the micro robot. Also, the device may further include an image matching unit that receives position information for the micro robot and performs position correction on the received position information based on pre-stored reference image data and the image data.

The present disclosure provides a mounting assembly for attaching medical equipment to a patient table. In one particular embodiment, the present disclosure provides a mounting assembly for attaching a magnetic field generator to a patient table. The mounting assembly allows for the secure attachment of the magnetic field generator to the patient table while also allowing for easy adjustment of the positioning and location of the magnetic field generator, even after the patient is on the table. In many embodiments the mounting assembly is comprised of a mounting apparatus that attaches directly to the patient table and first and second side rails that attach to the magnetic field generator and are configured to slidably attach to the mounting apparatus. In some embodiments, the mounting apparatus and side rails are constructed of a material that provides little or no interference with the magnetic field generator.

Provided is a capsule gastroscope magnetic control system comprising a rack and a magnetic control device arranged on the rack. The magnetic control device comprises a magnet, a position control unit and a magnetic line direction regulating unit. The position control unit is arranged on the rack so as to enable the magnet to move on a plane which forms an angle of 9030 degrees with the horizontal plane; the magnetic line direction regulating unit is arranged on the position control unit for adjusting the direction of the magnetic line of the magnet.