Control of magnetically actuated tools in any position using a rotating magnetic source
AssigneeUniversity of Utah Research Foundation
InventorsArthur W. Mahoney, Jacob J. Abbott
Life of this patent
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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.
Claims19
An apparatus for actuating a magnetically actuated device, the apparatus comprising:
- a rotating magnetic field source configured to generate a rotating magnetic field;
- and
- 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 rotating magnetic field source is operable to actuate the magnetically actuated device independent of a relative orientation of the rotating magnetic field source and the magnetically actuated device, and
- wherein rotation of the rotating magnetic field is configured to cause propulsion of the magnetically actuated device.
A method for propelling a microrobot, said method comprising:
- providing a magnetic field generating source configured to generate a magnetic field;
- 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;
- and
- repositioning the magnetic field generating source during said rotation,
- wherein said rotation propels the microrobot with said created magnetic torque, and
- wherein the magnetic field generating source is operable to propel the microrobot independent of a relative orientation of the magnetic field generating source and the microrobot, such that repositioning of the magnetic field generating source follows an unconstrained trajectory with respect to the microrobot.
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 propel 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 the rotating permanent magnet is operable to propel the magnetically actuated device independent of a relative orientation of the rotating permanent magnet and the magnetically actuated device, such that repositioning of the rotating permanent magnet follows a free trajectory with respect to the magnetically actuated device, and accounts for workspace limitations.
Dependencies are inferred from the claim text.