# US 12,178,539 B2 · Magnetic needle steering systems and methods

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- Number: US 12,178,539 B2
- Document ID: US12178539B2
- Status: Granted
- Kind: B2
- Application number: 17/435,348
- Filed: 2020-03-23
- Published: 2022-06-09
- Granted: 2024-12-31
- Earliest claimed: 2019-03-21
- Assignees: Arizona Board of Regents on behalf of Arizona State University
- Applicants: Arizona Board of Regents on behalf of Arizona State University
- Inventors: Hamidreza Marvi; Mahdi Ilami; Reza Ahmed
- Web page: https://patentgrep.com/patent/US12178539B2

## CPC

- A61B 34/73: {Manipulators for magnetic surgery}
- A61B 90/11: with guides for needles or instruments, e.g. arcuate slides or ball joints
- A61B 17/3403: {Needle locating or guiding means}
- A61B 1/00158: {using magnetic field}
- A61B 90/92: coded with colour
- A61B 2017/00526: {Methods of manufacturing}
- A61B 2017/00716: {simulating physical properties}
- A61B 2017/00725: {Calibration or performance testing}
- A61B 2017/00876: {magnetic}
- A61B 2017/06071: {with an abrupt angle formed between two adjacent sections}
- A61B 2017/061: {hollow or tubular}
- A61B 2034/731: {Arrangement of the coils or magnets}
- A61B 2090/062: {penetration depth}
- A61B 2090/064: {for measuring force, pressure or mechanical tension}
- A61B 2090/374: {NMR or MRI}
- A61M 25/0127: {Magnetic means; Magnetic markers}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)}

## Abstract

A steerable assembly comprises an elongated body structure with an implement arranged at a distal end thereof, wherein a premagnetized material is arranged closer to the distal end than a proximal end, and is configured to enable steering of the implement through tissue of an animal body responsive to application of a magnetic field eternal to the body. A method for guiding passage of an implement through tissue includes altering strength and/or position of at least one magnetic field source external to an animal body to interact with and effectuate movement of a premagnetized material inserted into the animal body.

## Claims

### Claim 1

A system comprising:
a magnetic resonance imaging system that comprises at least one magnetic field source; and
a steerable assembly that comprises an elongated body structure, an implement arranged at a distal end of the elongated body structure, and a premagnetized material arranged closer to the distal end than to a proximal end of the elongated body structure;
wherein the at least one magnetic field source is configured to interact with the premagnetized material to effect movement of the implement within an animal body when the implement is arranged within the animal body.

### Claim 2 (depends on 1)

The system of claim 1, wherein at least a portion of the implement comprises the premagnetized material.

### Claim 3 (depends on 1)

The system of claim 1, wherein the implement comprises a needle or a surgical tool.

### Claim 4 (depends on 1)

The system of claim 1, wherein the implement comprises at least one of a camera or an optical fiber.

### Claim 5 (depends on 1)

The system of claim 1, wherein the elongated body structure comprises a hollow tube or a catheter.

### Claim 6 (depends on 1)

The system of claim 1, wherein the elongated body structure comprises an electrical conductor or an optical fiber.

### Claim 7 (depends on 1)

The system of claim 1, wherein a center of mass of the premagnetized material is located less than 5 cm from the distal end of the elongated body structure.

### Claim 8

A method for guiding passage of an implement through or within tissue of an animal body, the method comprising:
inserting at least a portion of a steerable assembly into the animal body, the steerable assembly comprising an elongated body structure, an implement arranged at a distal end of the elongated body structure, and a premagnetized material or an electromagnet arranged closer to the distal end than to a proximal end of the elongated body structure;
providing a magnetic resonance imaging system comprising at least one magnetic field source external to an animal body; and
altering at least one of strength or position of the at least one magnetic field source to interact with the premagnetized material or the electromagnet to effectuate movement of the implement within the animal body.

### Claim 9 (depends on 8)

The method of claim 8, wherein the elongated body structure comprises a fluidic passage, and the method comprises delivering a therapeutic agent through the fluidic passage and the implement to the tissue.

### Claim 10 (depends on 8)

The method of claim 8, wherein the method further comprises extracting a tissue sample from the animal body using the implement.

### Claim 11 (depends on 8)

The method of claim 8, wherein the implement comprises a surgical tool, a camera, or an optical fiber.