US 12,142,422 B2
Parallel mobile coil mechanism for magnetic manipulation in large workspace
Li Zhang, Hong Kong (CN); Lidong Yang, Hong Kong (CN); and Moqiu Zhang, Hong Kong (CN)
Assigned to Multi-Scale Medical Robotics Center Limited, Hong Kong (CN)
Filed by Multi-Scale Medical Robotics Center Limited, Hong Kong (CN)
Filed on Oct. 6, 2023, as Appl. No. 18/482,078.
Application 18/482,078 is a continuation of application No. 17/350,873, filed on Jun. 17, 2021, granted, now 11,894,186.
Claims priority of provisional application 63/040,057, filed on Jun. 17, 2020.
Prior Publication US 2024/0062938 A1, Feb. 22, 2024
Int. Cl. H01F 7/06 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); H01F 7/20 (2006.01); H01F 27/24 (2006.01); H01F 27/28 (2006.01)
CPC H01F 7/064 (2013.01) [A61B 34/30 (2016.02); A61B 34/73 (2016.02); H01F 7/20 (2013.01); H01F 27/24 (2013.01); H01F 27/28 (2013.01); A61B 2034/733 (2016.02)] 8 Claims
OG exemplary drawing
 
1. A method of a magnetic manipulation system having mobile electromagnetic coils for moving and navigating a magnetic device in a body wherein the method determines parameters of the magnetic manipulation system to keep the magnetic manipulation system as compact as possible and inhibit any singularities with respect to kinematics and field generation, the method comprising:
analyzing a workspace of the magnetic manipulation system;
determining spatial relationships between coil branches of the magnetic manipulation system and actuation mechanisms of the coil branches; and
determining optimal link length of the coil branches.