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    • 9. 发明公开
    • MAGNETIC NAVIGATION SYSTEM WITH SOFT MAGNETIC CORE ELECTROMAGNETS FOR OPERATION IN THE NON-LINEAR REGIME
    • 用软磁芯FOR USE IN非线性区域的电磁磁导航系统
    • EP2819608A1
    • 2015-01-07
    • EP13707274.0
    • 2013-02-26
    • ETH Zürich
    • MUNTWYLER, SimonKRATOCHVIL, BradleyNELSON, BradleyFRUTIGER, DominicBELL, DominikBAUMANN, Jonas
    • A61B19/00H01F7/06H01F1/12A61B17/00
    • A61B17/00234A61B34/30A61B34/70A61B2017/00039A61B2017/00137A61B2017/00345A61B2017/00876A61B2034/732A61B2034/733A61F9/007H01F7/206
    • The present invention relates to a magnetic manipulation and navigation system for moving a magnetic element through a body comprising at least six electromagnets (24) with soft-magnetic cores arranged in a predetermined position to said body. It allows for the operation of one or more of the electromagnets in the non-linear regime of the magnetization curve of the cores. The system comprises at least one magnetic field sensor (104) at one or more predetermined positions outside of the operating region. While during operation in the linear region no feedback is required to set the magnetic field strength, during operation in the non-linear region feedback from the magnetic field sensors is used for closed-loop control. The system allows for operation in two separate modes, an open-loop mode operation in the linear regime for fast control signals such as they are required for stabilization during displacement of the magnetic element and a closed-loop operation in the non-linear regime for higher field strengths such as they may be required to apply forces and moments on the magnetic element while it is in contact with a surface.
    • 本发明涉及一种磁性操纵和导航系统,用于通过一个主体,其包括至少六个电磁铁(24),与预定的所述主体的位置上布置的软磁芯移动的磁性元件。 它允许一个或多个电磁铁的芯的磁化曲线的非线性区域的手术。 该系统包括至少一个磁场传感器(104)在一个或多个预定的工作区域的外侧的位置。 而手术中的线性区域时无反馈来设置的磁场强度,在手术从磁场传感器的非线性区域反馈过程中所需的用于闭环控制。 该系统允许对外科手术在两个单独的模式下,在用于快速控制信号线性状态的开环模式的操作:如它们的磁性元件和闭环操作在非线性区域进行位移时所需的稳定 高场强求,因为他们可能需要申请的力和力矩的磁性元件上,而它在与表面接触。