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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
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.
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公开(公告)号：US20250072895A1
公开(公告)日：2025-03-06
申请号：US18818127
申请日：2024-08-28
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.
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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
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.
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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
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.
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