Patent ID: 11894186
Assignee: MULTI-SCALE MEDICAL ROBOTICS CENTER LIMITED
Field: Electrical machinery, apparatus, energy (Electrical engineering)
Classification: CPC H  A | IPC A  H

Claim 0:
1. A magnetic manipulation system having mobile coils for moving and navigating a magnetic device in a body, comprising:
a robotic parallel mechanism comprising at least three electromagnets and at least three electromagnetic coils coupled to the at least three electromagnets, respectively, wherein 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, the electromagnetic coils having soft iron cores, wherein the currents supplied by the control unit are configured to generate a dynamic magnetic field in a linear region of each soft iron core, wherein 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 (3D) position sensor configured for performing a close loop control of the robotic parallel mechanism.