Abstract: The invention relates to an electronic add-on module which is fitted releasably onto an automatic injection appliance before the start of injection. The add-on module comprises a force sensor for measuring a time-variable axial force component exerted on or transmitted to the attached add-on module by the injection appliance during an injection procedure. The add-on module also comprises a grip or a preferred grip position for gripping and holding the add-on module and the inserted injection appliance. The add-on module can additionally have a microphone for detection of acoustic signals. A state of the injection appliance can be determined by the add-on module solely on the basis of measurements of the axial force sensor, optionally supplemented by microphone measurements. The invention thus affords a straightforward and cost-effective way of monitoring or controlling the correct performance of an injection procedure carried out with an automatic injection appliance.

Abstract: The invention relates to an electronic add-on module which is fitted releasably onto an automatic injection appliance before the start of injection. The add-on module comprises a force sensor for measuring a time-variable axial force component exerted on or transmitted to the attached add-on module by the injection appliance during an injection procedure. The add-on module also comprises a grip or a preferred grip position for gripping and holding the add-on module and the inserted injection appliance. The add-on module can additionally have a microphone for detection of acoustic signals. A state of the injection appliance can be determined by the add-on module solely on the basis of measurements of the axial force sensor, optionally supplemented by microphone measurements. The invention thus affords a straightforward and cost-effective way of monitoring or controlling the correct performance of an injection procedure carried out with an automatic injection appliance.

Abstract: A magnetic manipulation and navigation system for moving a magnetic element through a body comprising at least six electromagnets with soft-magnetic cores arranged in a predetermined position to the body. One or more of the electromagnets operate in the non-linear regime of the magnetization curve of the cores. At least one magnetic field sensor is at one or more predetermined positions outside of the operating region. In the linear region, no feedback is required to set the magnetic field strength. In the non-linear region, feedback from the magnetic field sensors is used for closed-loop control. The system has an open loop mode operation in the linear regime for fast control signals, for stabilization during displacement of the magnetic element, and a closed-loop operation in the non-linear regime for higher field strengths, to apply forces and moments on the magnetic element while it is in contact with a surface.

Abstract: A system for performing a medical intervention in a subject's body includes a medical device (10) having several segments (12, 15) to be navigated through the body lumens; an external magnet; and a control unit connected with the magnet. The magnet generates control signals for the external magnet to generate a magnetic field (B) having a direction (40) to orient a magnetically responsive element (25) in the distal end portion (20) of the medical device (10), especially to cause the distal end portion (20) of the medical device (10) to bend in a given direction (30) for improving navigation. The control unit is configured to limit the generation of control signals for the external magnet that the direction (40) of the magnetic field (B) is limited within a field limiting frame (60) around the longitudinal axis (30) of the distal end portion (20) of the medical device (10).

Abstract: 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.

Abstract: A wireless resonant micro-actuator for untethered micro-robots. The wireless resonant micro-actuator includes at least two magnetic bodies that are resiliently connected to one another by a resilient member to form a spring-mass system. A magnetic field generator generates a pulsating or oscillating external magnetic field that creates a magnetic force between the at least two magnetic bodies. The at least two magnetic bodies are capable of being mechanically oscillated to resonance with respect to one another. A converter converts the oscillatory motion of the at least two magnetic bodies to create useful motion.

Abstract: The invention concerns a novel magnetic actuator mechanism suitable for use on untethered microrobots. It relies on the interaction of magnetic bodies in an external magnetic field. By an oscillating field, the bodies are driven to oscillatory motion, and the energy stored in the oscillation is harnessed. The untethered wireless microactuator according to the invention comprises a mechanical system with at least two magnetic bodies resiliently connected to one another, wherein the mechanical system is capable of being oscillated, in particular driven to resonance, by an oscillating external magnetic field. The actuation system according to the invention comprises such a microrobot as well as a magnetic field generator with adjustable field direction and oscillation frequency. The actuation method comprises exciting two or more magnetic bodies with an oscillating magnetic field such that they perform mechanical oscillations, and harnessing this energy for propulsion of the device or to fulfill other tasks.