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WO2025057139A1 - Système et procédé de génération de champs magnétiques à l'aide d'un réseau d'électroaimants et d'un aimant permanent - Google Patents

Système et procédé de génération de champs magnétiques à l'aide d'un réseau d'électroaimants et d'un aimant permanent Download PDF

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Publication number
WO2025057139A1
WO2025057139A1 PCT/IB2024/058966 IB2024058966W WO2025057139A1 WO 2025057139 A1 WO2025057139 A1 WO 2025057139A1 IB 2024058966 W IB2024058966 W IB 2024058966W WO 2025057139 A1 WO2025057139 A1 WO 2025057139A1
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WIPO (PCT)
Prior art keywords
magnetic
permanent magnet
array
electromagnet
external permanent
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Application number
PCT/IB2024/058966
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English (en)
Inventor
Zheng Li
Yehui LI
Yichong SUN
Wai Yan Philip Chiu
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Multi Scale Medical Robotics Center Ltd
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Multi Scale Medical Robotics Center Ltd
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Publication of WO2025057139A1 publication Critical patent/WO2025057139A1/fr
Pending legal-status Critical Current
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/20—Electromagnets; Actuators including electromagnets without armatures
    • H01F7/206—Electromagnets for lifting, handling or transporting of magnetic pieces or material
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/73—Manipulators for magnetic surgery
    • A61B2034/731—Arrangement of the coils or magnets
    • A61B2034/733—Arrangement of the coils or magnets arranged only on one side of the patient, e.g. under a table
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/20—Electromagnets; Actuators including electromagnets without armatures
    • H01F7/206—Electromagnets for lifting, handling or transporting of magnetic pieces or material
    • H01F2007/208—Electromagnets for lifting, handling or transporting of magnetic pieces or material combined with permanent magnets

Definitions

  • the invention relates to a system and a method for generating magnetic fields to control magnetic objects.
  • BACKGROUND OF THE INVENTION Magnetic manipulation systems utilize magnetic fields to manipulate and control medical devices or components within the human body. Such systems have the potential to offer precise, minimally invasive procedures and targeted therapies.
  • Several advantages related to magnetic manipulation systems for medical applications are listed as follows: A) Minimally Invasive Procedures: Traditional surgical procedures often involve large incisions and prolonged recovery times.
  • Magnetic actuation systems allow medical professionals to remotely control the movement of devices within the body. This level of precision is particularly crucial when navigating delicate or hard-to-reach areas, such as blood vessels or areas near sensitive organs.
  • D) Targeted Drug Delivery Magnetic nanoparticles attached to drug carriers can be directed to specific locations within the body using external magnetic fields.
  • Magnetic actuation allows for the creation of flexible and adjustable medical devices. For instance, stents or other implants could be adjusted post-implantation without requiring additional surgeries.
  • Magnetic Catheter Navigation Magnetic navigation systems are used to guide catheters and other medical instruments through blood vessels and delicate anatomical structures. These systems typically consist of external magnets that generate controlled magnetic fields. The catheter contains magnetic elements that interact with the external fields, allowing for precise control of its movement within the body. This technology is used for procedures like cardiac ablation, where abnormal heart tissue is treated by delivering controlled energy through a catheter.
  • MRI Magnetic Resonance Imaging
  • MRI-compatible robotic systems are used to perform minimally invasive procedures within the MRI scanner. These systems utilize non-ferromagnetic materials and components that are safe for use in the strong magnetic field of an MRI machine.
  • Magnetic Drug Targeting Magnetic drug targeting involves attaching magnetic nanoparticles to drug carriers and guiding them to specific target sites using external magnetic fields. This technique is particularly useful for delivering drugs to tumor sites or other specific locations within the body. Magnetic targeting enhances drug accumulation at the target site while minimizing systemic side effects.
  • E) Magnetic Hyperthermia Magnetic nanoparticles can be injected into tumor tissues and exposed to alternating magnetic fields.
  • MPI Magnetic Particle Imaging
  • TMS Transcranial Magnetic Stimulation
  • Magnetic Guidewire Navigation In interventional cardiology and radiology, magnetic guidewires can be used to navigate through complex vascular pathways. External magnetic fields are applied to guide the movement of the guidewire, aiding in precise navigation during procedures. [0004] These examples demonstrate the diverse range of medical applications for magnetic actuation systems. The field continues to evolve with ongoing research and technological advancements, leading to new innovations that enhance medical procedures, diagnostics, and therapies. [0005] Currently, magnetic manipulations systems can be divided into two categories: using a permanent magnet (typically mounted on a robot arm for multi-DOF manipulation) and using an electromagnet array for for multi-DOF manipulation.
  • Electromagnet arrays offer precise control over the strength, direction, and distribution of the magnetic field, enabling accurate manipulation and positioning of objects.
  • Adjustability The magnetic field strength can be adjusted dynamically by varying the current passing through the coils, allowing for real-time adaptability.
  • Strong Magnetic Fields Electromagnet arrays can generate stronger magnetic fields compared to permanent magnets, which can be advantageous for applications requiring greater force or deeper penetration.
  • Permanent magnets do not require an external power source, which simplifies the system design and reduces energy consumption.
  • Stability Permanent magnets provide a constant magnetic field over time without the need for continuous power input or active control.
  • Reliability Permanent magnets have a longer lifespan compared to some electronic components, contributing to the overall reliability of the system.
  • Cost-Effectiveness Permanent magnets can be cost-effective as they eliminate the need for power supply infrastructure and control electronics.
  • Simple Integration Permanent magnets can be integrated into small and compact systems, making them suitable for applications with space constraints.
  • said system comprises: a) An actuation unit comprising an electromagnetic array, a robotic manipulator, and an external permanent magnet; b) A localization unit comprising a Hall-effect sensor array and a localization algorithm; and c) A computing unit comprising: i) a processor; ii) memory; and iii) program instructions, stored in the memory, that upon execution by the processor cause the computing unit to perform operations for designing a configuration of said electromagnetic array and/or a configuration of said external permanent magnet to generate a desired magnetic field to control said magnetic object.
  • Figure 1 illustrates the system overview of the magnetic manipulation system for generating magnetic fields according to the features of the proposed invention, which includes: 1. robotic manipulation; 2.
  • Figure 2A to 2D illustrate cases of the invented configuration with three to six electromagnets forming an upper and lower module. Each electromagnet contains: 4-1: pure iron core; 4-2: copper coil.
  • Figure 3A and 3B illustrates the workspace of the magnetic manipulation system, with a grid equally separating the workspace.
  • Figure 4A to 4D illustrate the maximum field at each node of the grid shown in Figure 3 generated by the electromagnet array containing three to six electromagnets shown in Figure 2.
  • Figure 5A to 5D illustrate magnetic field distribution generated by the electromagnet array containing three to six electromagnets shown in Figure 2 with an unit current passing through each copper coil.
  • Figure 6A to 6D illustrates four cases of external and internal permanent magnet using regular or Halbach array magnet design.
  • Figure 7 illustrates a case of permanent magnet design that investigates the force between these two magnets.
  • Figure 8A and 8B Fillustrates the dragging and levitating force exerted on the internal permanent magnet by the external permanent magnet, which correspond to the four cases shown in Figure 6.
  • Figure 9 illustrates the working principle of 5-DOF pose estimation of the target magnet object 6 using a Hall-effect sensor array, with 3-1 as the printed circuit board and 3-2 as the Hall-effect sensor.
  • DETAILED DESCRIPTION OF THE INVENTION [0018] The invention relates to a system and a method for generating magnetic fields to control magnetic objects.
  • the system involves an electromagnetic array for generating time-varying magnetic fields, an external permanent magnet mounted on a robot arm for generating strong magnetic field gradients, a Hall-effect sensor array for localization feedback of the controlled magnetic object, and a frame for housing and fixing these components.
  • the method consists of a localization algorithm for calculating pose of the magnetic object, a design method for designing the configuration of the electromagnet array and the external permanent magnet, and a control algorithm for generating desired magnetic fields and force to control the magnetic object.
  • This invention provides a system for controlling a magnetic object in a working space.
  • said system comprises: a) An actuation unit comprising an electromagnetic array, a robotic manipulator, and an external permanent magnet; b) A localization unit comprising a Hall-effect sensor array and a localization algorithm; and c) A computing unit comprising: i) a processor; ii) memory; and iii) program instructions, stored in the memory, that upon execution by the processor cause the computing unit to perform operations for designing a configuration of said electromagnetic array and/or a configuration of said external permanent magnet to generate a desired magnetic field to control said magnetic object.
  • said actuation unit comprises a top layer, a middle layer and a bottom layer; wherein a) said top layer comprises said external permanent magnet mounted on said robotic manipulator; b) said middle layer comprises said working space and said localization unit; and c) said bottom layer comprises said electromagnet array.
  • said operations comprise an optimization method for designing said configuration of the electromagnet array.
  • said localization algorithm comprises the steps of: a) Measuring a magnetic field ⁇ xyz ⁇
  • said stacked matrix form ⁇ ⁇ ( ⁇ , ⁇ ⁇ ) comprises magnetic dipole model, magnetic multipole model, or fitting model of magnetic field in mathematical paradigm.
  • said magnetic object comprises an internal permanent magnet configuration selected from regular or Halbach array.
  • said external permanent magnet comprises a configuration selected from regular or Halbach array.
  • said system further comprises a system frame.
  • said Hall-effect sensor array comprises one or more three-axis Hall-effect sensors.
  • the magnetic manipulation system is used for generating magnetic fields to control magnetic objects, comprising an actuation unit, a localization unit, a design method, a localization algorithm, and a control algorithm, wherein A) the actuation unit is used for generating designed magnetic fields, which contains an electromagnet array, an external permanent magnet, a robotic manipulator, and a frame connecting and fixing these components. B) the magnetic object contains internal permanent magnets and responds to the magnetic fields generated by the actuation unit. C) the localization unit contains a Hall-effect sensor array for measuring magnetic fields generated by the the actuation unit and the the magnetic object. D) the localization algorithm for sensing the pose of the controlled object based on the magnetic fields measured by the the localization unit.
  • the electromagnet array contains 1 to 8 solenoidal electromagnets based on different application demands. [0040] Each of the spatial configuration of the electromagnet array can be adjusted based on different application demands. [0041]
  • the magnetic object can be tethered or wireless.
  • the internal permanent magnet configuration of the magnetic object can be regular and Halbach array.
  • the localization unit comprises a printed circuit board and multiple three-axis Hall- effect sensors that formulate an array.
  • the spatial configuration and plurality of the Hall-effect sensor array can be optionally adjusted based on different application demands.
  • the configuration and plurality of the Hall-effect sensor array can be optionally adjusted.
  • the localization algorithm further comprises the steps of: a.
  • ⁇ generated by the external permanent magnet of the magnetic object is measured by the the Hall-effect sensor array and further represented as a stacked matrix form ⁇ ⁇ as ⁇ 00 ⁇ 0 ⁇ ⁇ ⁇ Eqn (12); b. modeled magnetic field in as the stacked matrix form ⁇ ⁇ ( ⁇ , ⁇ ⁇ ) which relative to the 5-DOF pose of the the magnetic object ⁇ and the position of ⁇ Hall-effect sensor ⁇ ⁇ . More specifically, ⁇ r( ⁇ , ⁇ 00) ⁇ ⁇ r@ ⁇ , ⁇ 0 ⁇ D ⁇ ⁇ @ ⁇ , ⁇ ⁇ D ⁇ ⁇ ⁇ ⁇ ⁇ Eqn (13); c.
  • An ⁇ ⁇ Eqn (14) is constructed.5-DOF pose of the obtained by solving the the optimization function.
  • the stacked matrix ⁇ ⁇ is measured from the chosen Hall-effect sensor layout which is sub-array of the Hall-effect sensor array with a specific plurality and distributed configuration.
  • ⁇ ⁇ ( ⁇ , ⁇ ⁇ ) could be represented by means of certain models including magnetic dipole model, magnetic multipole model, fitting model of magnetic field in mathematical paradigm.
  • the optimization method for designing the configuration of the electromagnet array contains the steps of: a.
  • the electromagnet array contains ⁇ electromagnets, with the pose of each the electromagnet represented by a vector ⁇ ⁇ ( ⁇ , ⁇ , ⁇ ) and its magnetic moment represented by a vector ⁇ ⁇ ( ⁇ , ⁇ ). Both the number of the electromagnet array and orientation of each electromagnet is constrained by the size of the frame. b. a grid is generated to separate the cuboid workspace equally with ⁇ nodes. The position of each node is represented by a vector ⁇ ⁇ ( ⁇ , ⁇ , ⁇ ). c. the magnetic field on the specific node of the the grid ⁇ !
  • ⁇ ⁇ ( ⁇ ⁇ , ⁇ ) generated by an electromagnet ⁇ ⁇ ( ⁇ , ⁇ , ⁇ ) is represented by ⁇ ⁇ ( ⁇ ⁇ , ⁇ ⁇ ) , with the superimposed magnetic field generated by the electromagnet array denoted as ⁇ ⁇ ( ⁇ ⁇ ).
  • ⁇ ⁇ ( ⁇ ⁇ , ⁇ ⁇ ) could be represented by means of certain models including magnetic dipole model, magnetic multipole model, fitting model of magnetic field in mathematical paradigm.
  • the force-based method for designing the configuration of the external permanent magnet contains the steps of: a . the position of the external permanent magnet can be represented by a vector ⁇ 6( ⁇ , ⁇ , ⁇ ), with its magnetic moment represented by ⁇ 6. b. the dimension of the internal permanent magnet is constrained by different application demands.
  • the position of the internal permanent magnet of the magnetic object can be represented by a vector ⁇ 7 ( ⁇ , ⁇ , ⁇ ) , with its magnetic moment represented by ⁇ 7 .
  • the position of the magnetic object is located below the external permanent magnet, with the height h set as a constant (typically equal to the average abdominal height of human body).
  • the orientation of the internal permanent magnet is set with its magnetic moment opposite to that of the external permanent magnet.
  • the magnetic force exerted on the magnetic object by the external permanent magnet is represented by a vector :( ⁇ 6 , ⁇ 7 , ⁇ 6 , ⁇ 7 ).
  • the dragging and levitating force are emphasized, which can pull and levitate the magnetic object to perform desired tasks.
  • the change of the magnetic force : is recorded.
  • one can determine the configuration of the external permanent magnet i.e., Halbach array or regular shape, dimension, and magnetization intensity).
  • ⁇ 6 , ⁇ 7 , ⁇ 6 , ⁇ 7 could be represented by means of certain models including magnetic dipole model, magnetic multipole model, fitting model of magnetic force in mathematical paradigm.
  • said system and said method comprises an actuation unit, a localization unit, a design method, a localization algorithm, and a control algorithm, wherein A) said actuation unit is used for generating designed magnetic fields, which contains an electromagnet array, an external permanent magnet, a robotic manipulator, and a frame connecting and fixing these components. B) said magnetic object contains internal magnet(s) and responds to the magnetic fields generated by the actuation unit. C) said localization unit contains a Hall-effect sensor array for measuring magnetic fields generated by the said actuation unit and the said magnetic object. D) said localization algorithm for sensing the pose of the controlled object based on the magnetic fields measured by the said localization unit.
  • said design method contains an optimization method for designing the configuration of the electromagnet array and a force-based method for designing the external permanent magnet.
  • said control algorithm for planning the pose of the said external permanent magnet and the currents applied to the said electromagnet array to generate desired magnetic fields and forces.
  • said actuation unit is a three-layer structure, with the top layer containing said external permanent magnet mounted on said robotic manipulator, the middle layer containing a cuboid workspace for holding patient and said localization unit, and the bottom layer containing said electromagnet array.
  • the configuration of said external permanent magnet can be regular and Halbach array.
  • said robotic manipulator can be an industrial robotic arm or a multiple-DOF mechanism.
  • said electromagnet array contains 1 to 8 solenoidal electromagnets based on different application demands.
  • each of the spatial configuration of said electromagnet array can be adjusted based on different application demands.
  • said magnetic object can be tethered or wireless.
  • the internal permanent magnet configuration of said magnetic object can be regular and Halbach array.
  • said localization unit comprises a printed circuit board and multiple three-axis Hall-effect sensors that formulate an array.
  • the spatial configuration and plurality of said Hall-effect sensor array can be optionally adjusted based on different application demands.
  • configuration and plurality of said Hall-effect sensor array can be optionally adjusted.
  • said localization algorithm further comprises the steps of: a. magnetic field ⁇ $ ⁇ 6 ⁇ generated by said external permanent magnet of said magnetic object is measured by the said Hall-effect sensor array and further represented as a stacked matrix form ⁇ ⁇ as ⁇ 00 0 ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ ⁇ , ⁇ ⁇ N ⁇ Eqn (12); b. modeled magnetic field as the stacked matrix form ⁇ ⁇ ( ⁇ , ⁇ ⁇ ) which pose said magnetic object ⁇ and said position of ⁇ Hall-effect sensor ⁇ ⁇ .
  • An is constructed.
  • 5-DOF pose of said magnetic object ⁇ is then obtained by solving the said optimization function.
  • the stacked matrix ⁇ ⁇ is measured from the chosen Hall-effect sensor layout which is sub-array of the Hall-effect sensor array with a specific plurality and distributed configuration.
  • ⁇ ⁇ ( ⁇ , ⁇ ⁇ ) could be represented by means of certain models including magnetic dipole model, magnetic multipole model, fitting model of magnetic field in mathematical paradigm.
  • the optimization method for designing the configuration of the electromagnet array contains the steps of: a. said electromagnet array contains ⁇ electromagnets, with the pose of each said electromagnet represented by a vector ⁇ ⁇ ( ⁇ , ⁇ , ⁇ ) and its magnetic moment represented by a vector ⁇ ⁇ ( ⁇ , ⁇ ). Both the number of said electromagnet array and orientation of each electromagnet is constrained by the size of said frame. b. a grid is generated to separate the cuboid workspace equally with ⁇ nodes. The position of each node is represented by a vector ⁇ ⁇ ( ⁇ , ⁇ , ⁇ ). c. the magnetic field on the specific node of the said grid ⁇ !
  • ⁇ ⁇ ( ⁇ ⁇ , ⁇ ) generated by an electromagnet ⁇ ⁇ ( ⁇ , ⁇ , ⁇ ) is represented by ⁇ ⁇ ( ⁇ ⁇ , ⁇ ⁇ ) , with the superimposed magnetic field generated by the electromagnet array denoted as ⁇ ⁇ ( ⁇ ⁇ ).
  • ⁇ ⁇ ( ⁇ ⁇ , ⁇ ⁇ ) could be represented by means of certain models including magnetic dipole model, magnetic multipole model, fitting model of magnetic field in mathematical paradigm.
  • the force-based method for designing the configuration of the external permanent magnet contains the steps of: g .
  • the position of said external permanent magnet can be represented by a vector ⁇ 6( ⁇ , ⁇ , ⁇ ), with its magnetic moment represented by ⁇ 6.
  • h. the dimension of said internal permanent magnet is constrained by different application demands.
  • the position of said internal permanent magnet of said magnetic object can be represented by a vector ⁇ 7 ( ⁇ , ⁇ , ⁇ ), with its magnetic moment represented by ⁇ 7 .
  • the position of said magnetic object is located below said external permanent magnet, with the height h set as a constant (typically equal to the average abdominal height of human body).
  • the orientation of said internal permanent magnet is set with its m agnetic moment opposite to that of said external permanent magnet.
  • :( ⁇ 6 , ⁇ 7 , ⁇ 6 , ⁇ 7 ) could be represented by means of certain models including magnetic dipole model, magnetic multipole model, fitting model of magnetic force in mathematical paradigm.
  • ⁇ t represents the Euclidean norm
  • r is the current vector applied to said electromagnet array with rw as its changing rate
  • g is the joint angle vector of said robotic manipulator with gw as its changing rate
  • ( ⁇ ) ⁇ and ( ⁇ ) ⁇ are the lower and upper bounds of the vector, respectively
  • ⁇ is element-wise (general) inequality symbol.

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  • Electromagnetism (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Power Engineering (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Electromagnets (AREA)

Abstract

La présente invention concerne un système de commande d'un objet magnétique dans un espace de travail. Dans un mode de réalisation, ledit système comprend : a) une unité d'actionnement comprenant un réseau électromagnétique, un manipulateur robotique et un aimant permanent externe ; b) une unité de localisation comprenant un réseau de capteurs à effet Hall et un algorithme de localisation ; et c) une unité de calcul comprenant : i) un processeur ; ii) une mémoire ; et iii) des instructions de programme, stockées dans la mémoire, qui, lors de l'exécution par le processeur, amènent l'unité de calcul à effectuer des opérations afin de concevoir une configuration dudit réseau électromagnétique et/ou une configuration dudit aimant permanent externe pour générer un champ magnétique souhaité afin de commander ledit objet magnétique.
PCT/IB2024/058966 2023-09-15 2024-09-15 Système et procédé de génération de champs magnétiques à l'aide d'un réseau d'électroaimants et d'un aimant permanent Pending WO2025057139A1 (fr)

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US202363538510P 2023-09-15 2023-09-15
US63/538,510 2023-09-15

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WO2025057139A1 true WO2025057139A1 (fr) 2025-03-20

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090043246A1 (en) * 2007-08-07 2009-02-12 Dominguez Guillermo Manuel Magnetic Surgical Device to Manipulate Tissue in Laparoscopic Surgeries Performed with a Single Trocar or Via Natural Orifices
US20140288416A1 (en) * 2013-03-22 2014-09-25 University Of Utah Research Foundation Manipulation of an untethered magentic device with a magnet actuator
US20180296289A1 (en) * 2016-01-08 2018-10-18 Levita Magnetics International Corp. One-operator surgical system and methods of use
US20190104994A1 (en) * 2017-10-09 2019-04-11 Vanderbilt University Robotic capsule system with magnetic actuation and localization
CN114403775A (zh) * 2020-10-28 2022-04-29 香港中文大学 内窥镜诊查系统、内窥镜、医疗电动椅及诊查方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090043246A1 (en) * 2007-08-07 2009-02-12 Dominguez Guillermo Manuel Magnetic Surgical Device to Manipulate Tissue in Laparoscopic Surgeries Performed with a Single Trocar or Via Natural Orifices
US20140288416A1 (en) * 2013-03-22 2014-09-25 University Of Utah Research Foundation Manipulation of an untethered magentic device with a magnet actuator
US20180296289A1 (en) * 2016-01-08 2018-10-18 Levita Magnetics International Corp. One-operator surgical system and methods of use
US20190104994A1 (en) * 2017-10-09 2019-04-11 Vanderbilt University Robotic capsule system with magnetic actuation and localization
CN114403775A (zh) * 2020-10-28 2022-04-29 香港中文大学 内窥镜诊查系统、内窥镜、医疗电动椅及诊查方法

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