公开(公告)号：US20250160986A1

公开(公告)日：2025-05-22

申请号：US18726834

申请日：2022-12-23

Applicant: MULTI-SCALE MEDICAL ROBOTICS CENTER LIMITED

Inventor： Moqiu ZHANG ,  Lidong YANG ,  Li ZHANG

IPC: A61B34/00 ,  A61B34/30 ,  A61B90/00

Abstract: This invention provides a device for tracking of a magnetic element and a system comprising said device; said device comprises: a) a magnetic actuation unit, comprising: i) an eye-in-hand sensing module; ii) a plurality of magnetic sources arranged evenly around said eye-in-hand sensing module, each of said plurality of magnetic sources is tilted at a tilt angle and separated from an adjacent magnetic source at an adjacent angle; and iii) an adjustment mechanism connected to each of said plurality of magnetic sources for adjusting said tilt angle and said adjacent angle to achieve a desired magnetic field; b) a robotic platform for mounting of said magnetic actuation unit and providing dexterous pose control of said magnetic actuation unit.

公开(公告)号：US11894186B2

公开(公告)日：2024-02-06

申请号：US17350873

申请日：2021-06-17

Applicant: Multi-Scale Medical Robotics Center Limited

Inventor： Li Zhang ,  Lidong Yang ,  Moqiu Zhang

IPC: H01F7/06 ,  H01F7/20 ,  H01F27/28 ,  A61B34/00 ,  A61B34/30 ,  H01F27/24

CPC classification number: H01F7/064 ,  A61B34/30 ,  A61B34/73 ,  H01F7/20 ,  H01F27/24 ,  H01F27/28 ,  A61B2034/733

Abstract: A magnetic manipulation system and method for moving and navigating a magnetic device in a body are provided. The system includes a robotic parallel mechanism having at least three electromagnets and at least three electromagnetic coils coupled to the at least three electromagnets, respectively. 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 which have soft iron cores. The currents supplied by the control unit are configured to generate dynamic magnetic field in the soft iron core's linear region. 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 position sensor is configured for performing a close loop control of the robotic parallel mechanism.

公开(公告)号：US20250072895A1

公开(公告)日：2025-03-06

申请号：US18818127

申请日：2024-08-28

Applicant: Boston Scientific Scimed, Inc. ,  Multi-Scale Medical Robotics Center Limited

Inventor： Barry WEITZNER ,  Philip Wai Yan CHIU ,  Kai Fung CHAN ,  Haojin YANG ,  Yanfei CAO ,  Kin Wai CHAN

IPC: A61B17/072 ,  A61B17/00 ,  A61B34/00

Abstract: In examples, a medical device for tissue fastening may comprise an end effector having: a cartridge, a sled positioned in the cartridge, a first control member coupled to the sled, and a second control member coupled to the sled; a shaft coupled to the end effector; and an operation portion coupled to the shaft. The operation portion may include an actuator that is configured to actuate at least the first control member or the second control member in order to move the sled proximally or distally.

公开(公告)号：US20240062938A1

公开(公告)日：2024-02-22

申请号：US18482078

申请日：2023-10-06

Applicant: Multi-Scale Medical Robotics Center Limited

Inventor： Li ZHANG ,  Lidong YANG ,  Moqiu ZHANG

IPC: H01F7/06 ,  H01F7/20 ,  H01F27/28 ,  A61B34/00 ,  A61B34/30 ,  H01F27/24

CPC classification number: H01F7/064 ,  H01F7/20 ,  H01F27/28 ,  A61B34/73 ,  A61B34/30 ,  H01F27/24 ,  A61B2034/733

Abstract: A magnetic manipulation system and method for moving and navigating a magnetic device in a body are provided. The system includes a robotic parallel mechanism having at least three electromagnets and at least three electromagnetic coils coupled to the at least three electromagnets, respectively. 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 which have soft iron cores. The currents supplied by the control unit are configured to generate dynamic magnetic field in the soft iron core's linear region. 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 position sensor is configured for performing a close loop control of the robotic parallel mechanism.

公开(公告)号：US20250160985A1

公开(公告)日：2025-05-22

申请号：US18726831

申请日：2022-12-23

Applicant: MULTI-SCALE MEDICAL ROBOTICS CENTER LIMITED

Inventor： Zhengxin YANG ,  Kai Fung CHAN ,  Li ZHANG

IPC: A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61M25/01 ,  A61M25/09

Abstract: This invention provides a microrobot. In one embodiment, said microrobot comprises: a) an attachment module (300) for connecting said microrobot to a delivery device (100); and b) a tip module (200), comprising: (i) a bullet (230), comprising an outer shell (231) and one or more first magnets, wherein said outer shell (231) has a design capable of being propelled by an external magnetic field when said one or more first magnets interacts with said external magnetic field; (ii) a holder (220) for holding said bullet comprising a release mechanism for releasing said bullet from said holder.

公开(公告)号：US12142422B2

公开(公告)日：2024-11-12

申请号：US18482078

申请日：2023-10-06

Applicant: Multi-Scale Medical Robotics Center Limited

Inventor： Li Zhang ,  Lidong Yang ,  Moqiu Zhang

IPC: H01F7/06 ,  A61B34/00 ,  A61B34/30 ,  H01F7/20 ,  H01F27/24 ,  H01F27/28

Abstract: A magnetic manipulation system and method for moving and navigating a magnetic device in a body are provided. The system includes a robotic parallel mechanism having at least three electromagnets and at least three electromagnetic coils coupled to the at least three electromagnets, respectively. 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 which have soft iron cores. The currents supplied by the control unit are configured to generate dynamic magnetic field in the soft iron core's linear region. 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 position sensor is configured for performing a close loop control of the robotic parallel mechanism.