C-Arm Magnetic Actuation Layout for 3D Catheter Control
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Solution Overview
Problem
Existing magnetic actuation systems for microrobots and catheters are bulky and power-intensive, making them incompatible with medical imaging devices like C-arms, and lack the ability to utilize image information during actuation.
Innovation Solution
A magnetic actuation system integrated with or compatible with a C-arm, utilizing a combination of electromagnets and auxiliary coils to generate a three-dimensional magnetic field and force, allowing wireless control of microrobots, catheters, or guide wires, with a compact design that maintains a large internal work space and efficient power usage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If eight electromagnetic coils are radially arranged to generate three-dimensional magnetic field, then the magnetic robot can be controlled in three-dimensional space, but the external volume becomes very large compared to the internal work space
Solution Approach 1:
The magnetic actuation system is divided into two functional segments: electromagnet units for generating the primary magnetic field and auxiliary coils for compensating vertical field components. This segmentation allows each component to be optimized independently, reducing the overall volume while maintaining three-dimensional control capability.
Solution Approach 2:
The patent transitions from a two-dimensional planar coil arrangement to a three-dimensional configuration by adding vertical electromagnet units and auxiliary coils. This dimensional change enables full three-dimensional magnetic field control within a more compact footprint, resolving the volume contradiction.
2Adaptability or versatility
If eight electromagnetic coils are radially arranged with predetermined spacing, then three-dimensional magnetic field coverage is achieved, but the system consumes a lot of power
Solution Approach 1:
The patent extracts and separates the vertical field generation function into dedicated electromagnet units, allowing the auxiliary coils to focus on compensating only the vertical component. This extraction reduces the overall power requirement by optimizing the division of labor between different magnetic field generation components.
Solution Approach 2:
The system dynamically adjusts current parameters in the electromagnet units and auxiliary coils based on the required magnetic field configuration. By changing electrical parameters adaptively rather than maintaining constant high current through all coils, the system achieves full magnetic field coverage with reduced power consumption.
3Reliability
If the magnetic actuation system has a sealed structure with coils arranged outside the work space, then the structure is protected, but it cannot be used with medical imaging devices such as C-arm
Solution Approach 1:
The magnetic actuation system is designed with dynamic positioning capability, allowing the electromagnet units and auxiliary coils to be adjusted to different positions and orientations. This dynamic configuration enables the system to adapt to various C-arm positions and angles while maintaining structural integrity and protection of internal components.
Solution Approach 2:
The patent designs the magnetic actuation system with universal compatibility features, allowing it to be integrated with different medical imaging devices including C-arm systems. The electromagnet units can be positioned on various surfaces and the auxiliary coils can be configured for different workspace geometries, making the system universally applicable while maintaining its sealed protective structure.
4Length of stationary object
If electromagnet units are positioned below the treatment space, then the C-arm has sufficient rotation space, but the magnetic field generation requires larger current
Solution Approach 1:
The auxiliary coils act as intermediaries between the electromagnet units positioned below the treatment space and the magnetic robot. These auxiliary coils amplify and direct the magnetic field vertically, allowing the electromagnet units to operate at lower current while still achieving effective magnetic field strength in the treatment space, thus resolving the current requirement contradiction.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise, efficient, and power-effective three-dimensional control of microrobots and catheters within a C-arm environment, utilizing image information for real-time positioning and alignment, while maintaining a clear treatment space and reducing power consumption.
Implementation Method 1
an electromagnet unit including a combination of one or more electromagnets and positioned between the transmitter and treatment space of the C-arm... the electromagnet unit is disposed below the treatment space by generating a magnetic field or a magnetic force through the current supplied from the power supply unit
Implementation Method 2
an auxiliary coil fixed to the receiver or transmitter of the C-arm and receiving the current from the power supply unit, wherein the auxiliary coil is disposed above the treatment space by generating the magnetic field or the magnetic force through the current supplied from the power supply unit
Implementation Method 3
a three-dimensional magnetic field and a magnetic force are applied to the magnetic robot positioned in the workspace in a wireless manner, thereby controlling the magnetic robot
Data Source
AI summary
Provided is a magnetic actuation system controlling a magnetic microrobot, a magnetic actuation catheter, or a guide wire by using a magnetic field, and more particularly, a magnetic actuation system compatible with a C-arm that is applied to the C-arm, which is a mobile X-ray fluoroscopy device, in order to enable control of the microrobot or a catheter treatment in a human body by using the C-arm.