Pivotable Magnetic Coils for Miniature Device Navigation
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Solution Overview
Problem
Existing systems for remotely navigating medical devices within a patient lack precision in maneuvering miniature devices along predetermined paths due to limited degrees of freedom and constraints in magnetic field generation, which affects the accurate delivery of therapeutic payloads and diagnostics.
Innovation Solution
A system comprising two pivotable magnetic coils and a controller that calculates and induces a magnetic field to maneuver a miniature device along a predetermined route, allowing for selective pivoting and movement within a constrained angular range to maintain path conformity within a predetermined deviation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If the coils are constrained to pivot within a predetermined range of angles, then the system size and power consumption are minimized, but the ability to maneuver the miniature device along complex predetermined paths is limited
Solution Approach 1:
The system dynamically adjusts the pivot angles of the coils within their constrained ranges to generate the necessary magnetic field orientations for path following. The controller calculates optimal coil orientations at different time points to compensate for the limited mechanical freedom, enabling the system to adapt its magnetic field generation strategy to achieve complex maneuvers despite fixed angular constraints.
Solution Approach 2:
The coils perform periodic pivoting motions within their predetermined angular ranges to generate time-varying magnetic fields. By alternating the magnetic forces periodically and strategically, the system can achieve net displacement and complex trajectory control without requiring continuous large-angle pivots, thus maintaining compact size while achieving versatile path following.
2Volume of stationary object
If the coils are positioned close to the patient to reduce system size, then the system becomes more compact, but the magnetic field strength and precision of device maneuvering are reduced
Solution Approach 1:
The controller pre-calculates and compensates for the reduced magnetic field strength by optimizing the coil current magnitudes and pivot angle sequences before actuation. This preliminary adjustment ensures that even with limited coil-student distance and constrained angles, the magnetic forces generated are sufficient to achieve the required maneuvering precision along the predetermined path.
Solution Approach 2:
The system changes operational parameters such as current magnitude, pivot angle timing, and sequence to compensate for the reduced physical distance available for magnetic field generation. By adjusting these parameters dynamically, the system maintains effective magnetic field strength and maneuvering precision despite the compact system volume and constrained coil positions.
3Manufacturing precision
If the controller calculates complex paths with multiple segments to conform to predetermined routes, then the accuracy of payload delivery is improved, but the computation time and system complexity increase
Solution Approach 1:
The controller divides the predetermined path into multiple manageable line segments, each corresponding to specific coil pivot sequences and magnetic field configurations. This segmentation allows the complex path following problem to be broken down into simpler sub-problems, reducing the computational burden while maintaining overall path accuracy for precise payload delivery.
Solution Approach 2:
The controller pre-calculates the optimal sequence of coil pivot angles and magnetic field parameters for each path segment before execution. This preliminary computation enables real-time control with reduced on-the-fly calculation requirements, balancing the need for high path following accuracy with acceptable system complexity and response time.
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
The system effectively navigates miniature devices along precise paths within the patient, ensuring accurate delivery of payloads while minimizing power consumption and system size, by strategically alternating magnetic forces and compensating for physical constraints.
Implementation Method 1
two coils, each configured to produce a magnetic field
Implementation Method 2
operate the coils within the predetermined range of angles to induce a magnetic field to maneuver the miniature device along the path
Data Source
AI summary
A system configured to remotely maneuver a magnetic miniature device within a patient along a path conforming to a predetermined route is provided. The system comprises two coils, each configured to produce a magnetic field, and to be selectively pivoted about at least a first pivot axis within a first predetermined range of angles, a horizontal platform configured to support thereon the patient and to be disposed within the coils, and a controller configured to direct operation of the system. The predetermined range of angles constrains the system from maneuvering the miniature device along the route. The controller is configured to calculate a path comprising a plurality of segments, the path conforming to the route within a predetermined deviation. The controller is further configured to operate the coils within the predetermined range of angles to induce a magnetic field to maneuver the miniature device along the path.