# US 2013/0154776 A1 · Control of Magnetically Actuated Tools in any Position Using a Rotating Magnetic Source > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2013/0154776 A1 - Document ID: US20130154776A1 - Status: Published application - Kind: A1 - Application number: 13/330,300 - Filed: 2011-12-19 - Published: 2013-06-20 - Earliest claimed: 2011-12-19 - Assignees: University of Utah Research Foundation - Inventors: Arthur W. Mahoney; Jacob J. Abbott - Web page: https://patentgrep.com/patent/US20130154776A1 ## CPC - H01F 7/00: Magnets (superconducting magnets H01F6/00; for separation of solid materials or fluids B03C1/00; for bench or like work-holders B23B31/28, B23Q3/00; work-holding devices B25B11/00; lifting magnets B66C1/00; {operating or controlling locks using permanent magnets E05B47/0038; devices for holding a wing, e.g. door or window, by magnetic or electromagnetic attraction E05C19/16; relieving load or bearings using magnetic means F16C39/06} ; for electric meters G01R; for relays H01H; {for electric discharge tubes H01J, e.g. H01J3/24, H01J23/10, H01J29/68} ; for dynamo-electric machines H02K) - A61B 1/00158: {using magnetic field} - A61B 1/041: {Capsule endoscopes for imaging} - A61B 34/30: Surgical robots - A61B 34/72: {Micromanipulators} - H01F 7/02: Permanent magnets {[PM]} - A61B 2034/731: {Arrangement of the coils or magnets} - A61B 2034/733: {arranged only on one side of the patient, e.g. under a table} - H01F: MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract Systems and methods utilize a rotating magnetic field to drive a magnetically actuated device where the source of the rotating magnetic field is not constrained to a particular orientation with respect to the device. In one embodiment a rotating permanent magnet is utilized to actuate a magnetically actuated device where the magnet is not constrained to any position relative to the magnetically actuated device, such as the radial or axial position. Accordingly, the rotating permanent magnet may be directed in a manner to avoid collisions or other obstacles in a workspace while still effectively driving the magnetically actuated device. ## Claims ### Claim 1 An apparatus for actuating a magnetically actuated device, the apparatus comprising: a rotating magnetic field source; a guiding device configured to hold the rotating magnetic field source and reposition the rotating magnetic field source to actuate the magnetically actuated device, wherein the repositioning of the rotating magnetic field source is not constrained to a particular orientation with respect to the device. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the position of the apparatus is not constrained to radial and axial positions. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein rotating magnetic field source is a rotating permanent magnet (RPM). ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the guiding device is configured to rotate the rotating magnetic field source. ### Claim 5 (depends on 1) The apparatus of claim 1 further comprising a vision system configured to locate the magnetically actuating device and orient the guiding device and rotating magnetic field source with respect to a located magnetically actuating device. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the vision system is one of a CT scanning device, fluoroscope device, x-ray device and ultrasound device. ### Claim 7 (depends on 1) The apparatus of claim 1 further comprising a magnetically actuated device location module configured to sense the magnetically actuated device. ### Claim 8 (depends on 7) The apparatus of claim 7, wherein said sensing includes reading an RFID signal from said magnetically actuated device. ### Claim 9 (depends on 7) The apparatus of claim 7, wherein said sensing includes sensing magnetic fields of said magnetically actuated device. ### Claim 10 (depends on 7) The apparatus of claim 7, wherein said sensing includes receiving feedback from said magnetically actuated device, said feedback providing information with respect to the rotating magnetic field source. ### Claim 11 (depends on 1) The apparatus of claim 1, wherein the guiding device is a robotic manipulator. ### Claim 12 A method for propelling a microrobot, said method comprising: providing a magnetic field generating source; rotating the magnetic field generating source about an axis of rotation, thereby creating magnetic torque at a separate point in space to act on said microrobot; repositioning the rotating magnetic field source to propel the microrobot with said created magnetic torque, wherein said repositioning follows an unconstrained trajectory with respect to the microrobot. ### Claim 13 (depends on 12) The method of claim 12, wherein the magnetic field generating source is a rotating permanent magnet. ### Claim 14 (depends on 12) The method of claim 12, wherein the magnetic field generating source is an arrangement of electromagnets configured to be selectively switched in order to produce a rotating magnetic field. ### Claim 15 (depends on 14) The method of claim 14 wherein selectively switched includes using varying driving currents for said electromagnets. ### Claim 16 (depends on 12) The method of claim 12, wherein said microrobot is driven in rolling motion pattern. ### Claim 17 (depends on 12) The method of claim 12, wherein said microrobot is driven in a spiraling motion pattern. ### Claim 18 A method for driving a magnetically actuated device, said method comprising: locating the magnetically actuated device within a body of a patient; positioning a rotating permanent magnet proximate to said patient; rotating said rotating permanent magnet to provide magnetic torques to said magnetically actuated device; and repositioning said rotating permanent magnet in a manner to guide said magnetically actuated device through the patient's body, wherein said repositioning follows a free trajectory with respect to the magnetically actuated device, and accounts for workspace limitations. ### Claim 19 (depends on 18) The method of claim 18, wherein locating is done using a medical imaging system. ### Claim 20 (depends on 16) The method of claim 16, wherein locating is done using a technique configured to sense the magnetically actuated device.