Abstract: An electromagnetic actuator for non-continuous rotation (cogging-torque actuator (CTA)) (100) comprises a support structure (116), an output shaft (104) rotatable about and defining an axis of rotation (X), a permanent magnet rotor (106) comprising at least two magnetic poles (108a, 108b) attached to the output shaft (104), and a stator device (110) comprising a ferromagnetic pole body (112) attached to the support structure (116) and surrounding the at least two magnetic poles (108a, 108b). The ferromagnetic pole body (112) can have at least four ferromagnetic stator poles (112a-d) each wrapped in a conductive wire (114a-d) to define a stator coil. The at least four ferromagnetic stator poles (112a-d) are sized, and spaced radially from each other, so as to define a maximum cogging torque of the electromagnetic actuator (100). The CTA (100) can operate as an actuator, an elastic spring, a clutch, and/or a load support device.

Abstract: A magnetically steerable screw-tip cannula can include a flexible cannula with a distal end to be inserted into biological tissue and an internal lumen extending to the distal end. A magnetically steerable screw-tip can be on the distal end of the cannula. The screw-tip can include a screw body with screw threads on an exterior surface thereof, the screw threads oriented to generate insertion or retraction force along a longitudinal axis of the screw body when the screw body rotates. The screw body can also include an internal lumen extending along the longitudinal axis of the screw body, where the internal lumen is connected to the internal lumen of the cannula. A magnet can be associated with the screw body having an average magnetization substantially parallel to the longitudinal axis of the screw body.

Abstract: A system for propelling a magnetic robotic device through a human comprises a magnetic actuator device operable to generate a rotating magnetic field, and a magnetic robotic device comprising a compliant body and at least two permanent magnets supported by and spatially separated about the compliant body. A non-magnetic region can also be oriented between the at least two permanent magnets. The at least two permanent magnets can be alternating or non-alternating in polarity with each other. In response to application of the rotating magnetic field generated by the magnetic actuator device and that is situated proximate the magnetic robotic device, the rotating magnetic field effectuates undulatory locomotion of the magnetic robotic device to propel the magnetic robotic device through a human, such as through a natural lumen. Further, the magnetic robotic device can optionally be supported by a catheter or endoscope to assist with propelling a distal end through a human.

Abstract: A method and system of visually communicating navigation instructions can use translational and rotational arrow cues (TRAC) defined in an object-centric frame while displaying a single principal view that approximates the human's egocentric view of the actual object. A visual guidance system and method can be used to pose a physical object within three-dimensional (3D) space. Received pose data (402) indicates a current position and orientation of a physical object within 3D space, such that the pose data can provide a view of the physical object used to generate a virtual view of the physical object in 3D space. At least two of six degrees of freedom (6DoF) error can be calculated (404) based on a difference between the current position of the physical object and a target pose of the physical object.

Abstract: An electromagnetic actuator for non-continuous rotation (cogging-torque actuator (CTA)) (100) comprises a support structure (116), an output shaft (104) rotatable about and defining an axis of rotation (X), a permanent magnet rotor (106) comprising at least two magnetic poles (108a, 108b) attached to the output shaft (104), and a stator device (110) comprising a ferromagnetic pole body (112) attached to the support structure (116) and surrounding the at least two magnetic poles (108a, 108b). The ferromagnetic pole body (112) can have at least four ferromagnetic stator poles (112a-d) each wrapped in a conductive wire (114a-d) to define a stator coil. The at least four ferromagnetic stator poles (112a-d) are sized, and spaced radially from each other, so as to define a maximum cogging torque of the electromagnetic actuator (100). The CTA (100) can operate as an actuator, an elastic spring, a clutch, and/or a load support device.

Abstract: A system for propelling a magnetic robotic device through a human comprises a magnetic actuator device operable to generate a rotating magnetic field, and a magnetic robotic device comprising a compliant body and at least two permanent magnets supported by and spatially separated about the compliant body. A non-magnetic region can also be oriented between the at least two permanent magnets. The at least two permanent magnets can be alternating or non-alternating in polarity with each other. In response to application of the rotating magnetic field generated by the magnetic actuator device and that is situated proximate the magnetic robotic device, the rotating magnetic field effectuates undulatory locomotion of the magnetic robotic device to propel the magnetic robotic device through a human, such as through a natural lumen. Further, the magnetic robotic device can optionally be supported by a catheter or endoscope to assist with propelling a distal end through a human.

Abstract: A method and system of visually communicating navigation instructions can use translational and rotational arrow cues (TRAC) defined in an object-centric frame while displaying a single principal view that approximates the human's egocentric view of the actual object. A visual guidance system and method can be used to pose a physical object within three-dimensional (3D) space. Received pose data (402) indicates a current position and orientation of a physical object within 3D space, such that the pose data can provide a view of the physical object used to generate a virtual view of the physical object in 3D space. At least two of six degrees of freedom (6DoF) error can be calculated (404) based on a difference between the current position of the physical object and a target pose of the physical object.

Abstract: An adapter system can include a set of adapters operably adapted to a set of microsurgical tools. Each adapter in the set of adapters can be formed for a complimentary surgical tool in the set of surgical tools. Each adapter can have a setback feature designed to orient a corresponding tool tip at a common tip distance. An adapter receptacle can include a joint or joints having a rotary motion and/or translation mechanism and a setback stop feature.

Abstract: An omnidirectional electromagnet (100) is disclosed. The omnidirectional electromagnet (100) comprises a ferromagnetic core (110) and three orthogonal solenoids (120, 130, 140) disposed about the core (110). Each solenoid (120, 130, 140) is adapted to receive a current from a current source to control an orientation and a magnitude of a magnetic field generated by the omnidirectional electromagnet (100). One or more omnidirectional electromagnets (100) can be used as a single magnetic manipulation system. The magnetic field generated by the omnidirectional electromagnet system can be used to control at least one of a force, a torque, an orientation, and a position of an adjacent magnetic object.

Abstract: Techniques for insertion of a cochlear implant include using a rotatable manipulator magnet to steer the tip of the cochlear implant. Steering can use magnetic torque and/or force between the manipulator magnet and a magnetic element coupled to the tip of the cochlear implant to control bending of the cochlear implant.

Abstract: An adapter system can include a set of adapters operably adapted to a set of microsurgical tools. Each adapter in the set of adapters can be formed for a complimentary surgical tool in the set of surgical tools. Each adapter can have a setback feature designed to orient a corresponding tool tip at a common tip distance. An adapter receptacle can include a joint or joints having a rotary motion and/or translation mechanism and a setback stop feature.

Abstract: A magnetic manipulation device (16) can include a housing (20), a spherical magnetic body (22) contained within the housing (20), and a plurality of sensors to detect the direction of the magnetic dipole of the spherical magnetic body (22). The spherical magnetic body (22) can be rotatable about a sphere axis of rotation which is (24a, 24b, 24c) can be in contact with the spherical magnetic body (22) to rotate the spherical magnetic body (22) about the sphere axis of rotation.

Abstract: An omnidirectional electromagnet (100) is disclosed. The omnidirectional electromagnet (100) comprises a ferromagnetic core (110) and three orthogonal solenoids (120, 130, 140) disposed about the core (110). Each solenoid (120, 130, 140) is adapted to receive a current from a current source to control an orientation and a magnitude of a magnetic field generated by the omnidirectional electromagnet (100). One or more omnidirectional electromagnets (100) can be used as a single magnetic manipulation system. The magnetic field generated by the omnidirectional electromagnet system can be used to control at least one of a force, a torque, an orientation, and a position of an adjacent magnetic object.

Abstract: A method of manipulating an untethered magnetic device, such as a magnetic capsule endoscope, can include positioning a magnet actuator and an untethered magnetic device proximate one another such that the untethered magnetic device is within a constant magnetic field of the magnet actuator. A position of the untethered magnetic device can be determined relative to the magnet actuator. A desired heading, position, and/or velocity of the untethered magnetic device can be identified. The method can include calculating a magnetic field heading and/or a magnetic force to be applied to the untethered magnetic device to achieve the desired device heading, position, and/or velocity. The magnetic actuator can be moved to apply the calculated magnetic field heading and/or magnetic force to the untethered magnetic device via the magnetic field.

Abstract: Systems and methods utilize a rotating magnetic field to drive a magnetically actuated device where the source of the rotating magnetic field is not constrained to a particular orientation with respect to the device. In one embodiment a rotating permanent magnet is utilized to actuate a magnetically actuated device where the magnet is not constrained to any position relative to the magnetically actuated device, such as the radial or axial position. Accordingly, the rotating permanent magnet may be directed in a manner to avoid collisions or other obstacles in a workspace while still effectively driving the magnetically actuated device.

Abstract: Systems and methods utilize a rotating magnetic field to drive a magnetically actuated device where the source of the rotating magnetic field is not constrained to a particular orientation with respect to the device. In one embodiment a rotating permanent magnet is utilized to actuate a magnetically actuated device where the magnet is not constrained to any position relative to the magnetically actuated device, such as the radial or axial position. Accordingly, the rotating permanent magnet may be directed in a manner to avoid collisions or other obstacles in a workspace while still effectively driving the magnetically actuated device.

Abstract: Techniques for insertion of a cochlear implant include using a rotatable manipulator magnet to steer the tip of the cochlear implant. Steering can use magnetic torque and/or force between the manipulator magnet and a magnetic element coupled to the tip of the cochlear implant to control bending of the cochlear implant.

Abstract: Wireless control of a microrobot can be performed using a magnetic field originating from a localized control magnet source relative to a body into which the microrobot is placed. Torque forces which contribute to rotation (and propulsion) of the microrobot can overcome magnetic forces which produce attraction or repulsion between the microrobot and the control magnet.