Classifications

• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/70—Manipulators specially adapted for use in surgery
  • A61B34/73—Manipulators for magnetic surgery
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B1/00147—Holding or positioning arrangements
  • A61B1/00158—Holding or positioning arrangements using magnetic field
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/70—Manipulators specially adapted for use in surgery
  • A61B34/73—Manipulators for magnetic surgery
  • A61B2034/731—Arrangement of the coils or magnets
  • A61B2034/732—Arrangement of the coils or magnets arranged around the patient, e.g. in a gantry

Definitions

• the invention relates to a device for moving a magnetic object in a container, with dipoles grouped around the container and a quadrupole, the magnetic fields of the dipoles and the quadrupole being movable relative to one another.
• Such a device is known, for example, from DE 10 2016 014 192 A1. With this device, the object can be moved within a room. This is done using a magnetic force that can be adjusted in strength and direction.
• DE 10 2010 022 926 A1 discloses a method for positioning a magnetic nanoobj ect at a target location by means of a magnetic gradient field. With the help of this method, an instrument, such as for thermal ablation or a biopsy needle, can be moved in a human body.
• the invention is based on the problem of further developing a device of the type mentioned at the outset in such a way that it enables a particularly efficient movement of the object in the container.
• this problem is solved in that two pairs of dipoles are arranged in different planes at a distance from one another and in that two quadrupoles are arranged in a plane between the planes of the two dipoles.
• the object can be of different sizes, preferably paramagnetic or superparamagnetic objects and can contain iron oxides, for example. Depending on the area of application, the object can have a diameter in the millimeter range up to the nanometer or micrometer range.
• the arrangement of the dipoles and quadrupoles in different planes is structurally particularly simple if magnets for generating the dipoles and quadrupoles are arranged in Halbach cylinders and enclose a space provided for the container.
• the dipoles and quadrupoles arranged in different planes preferably form cylinders arranged axially one behind the other.
• an amplification or damping of the magnetic fields can be achieved easily if two Halbach cylinders each with magnets for generating the dipoles and / or the quadrupoles are arranged concentrically to each other.
• the strength of the magnetic fields can be easily adjusted if the concentrically enclosing Halbach cylinders can be moved relative to one another.
• the dipoles and the quadrupole can be easily driven around the room if the dipoles and quadrupoles designed as Halbach cylinders each have a drive device and are mounted such that they can rotate relative to one another.
• the resulting magnetic fields can be generated in the intended directions and the magnetic object can thus be driven.
• a three-dimensional movement of the object is particularly simple if a carriage for receiving the container contained in the object can be moved relative to the dipoles and the quadrupoles and if a direction of movement of the carriage relative to the dipoles and the Quadrupoles are arranged parallel to the axis of rotation of the Halbach cylinder.
• the object driven by the dipoles and the quadrupoles can easily be held in the center of the magnetic fields if the carriage can be moved parallel to the axis of rotation of the Halbach cylinder.
• the change in position of the object in the generated magnetic fields can be compensated for by a counter-movement of the carriage, so that the object always remains in the center of the device.
• the device can advantageously be used to examine a human or animal body if the magnetic object is arranged in a probe designed for insertion into a human or animal body.
• the probe can be designed as an endoscopic capsule for examining the body or also have a medical instrument for treating the body.
• signals from inside the body can be easily detected if the probe has at least one sensor for detecting data.
• the signals can either be stored or sent to a receiving device located outside the body.
• the probe could be powered by an electrical line or a battery.
• electrical current for supplying the probe can be generated simply by magnetic induction if an induction coil is arranged in the probe. This design means that no battery or electrical line is required.
• the device is structurally particularly simple if the magnetic object is designed as a permanent magnet.
• the magnetic object is preferably spherical in shape.
• FIG. 1 shows a device for moving a magnetic object in a container
• FIG. 2 shows a sectional view through the device with the container in the area of the object along the line II-II from FIG. 1,
• FIG. 5 shows the arrangement of dipoles and quadrupoles from FIG. 4 in a different orientation
• FIG. 6 shows a schematic representation of the geometry of Halbach cylinders.
• Figure 1 shows a device with two pairs of dipoles 1 - 4 concentrically enclosing each other and a pair of concentrically enclosing quadrupoles 5, 6 arranged between the pairs of dipoles 1 - 4.
• the dipoles 1 - 4 and the quadrupoles 5, 6 enclose a space 18 , in which the container 7, which is shown as a human patient by way of example, is located.
• a magnetic object 8 is located in the plane of the quadrupoles 5, 6 within the container 7.
• the dipoles 1-4 and the quadrupoles 5, 6 are each designed as a Halbach cylinder with a
• the dipoles 1-4 and the quadrupoles can be rotated around the container by the drive devices.
• the drive device 10 shown has an electric motor 11 with a worm gear 12. In alternative embodiments that are not shown, the electric motor 11 can be in engagement with the teeth 9 via a toothed belt or a gear train.
• the container 7 is on a carriage 13.
• the carriage 13 can be parallel to the axis of the Halbach cylinder of the dipoles 1 - 4 and the quadrupoles 5, 6 moved by a drive, not shown, so that the object 8 is essentially always in the center of the Halbach cylinder of quadrupoles 5, 6 is located. The greatest force can be transferred from the dipoles 1-4 and the quadrupoles 5, 6 to the object 8 in the center.
• FIGS. 1 and 2 shows a sectional view through the device with the container 7 from FIG. 1 along the line II-II.
• the movements of the carriage 13 and the dipoles 1-4 and the quadrupoles 5, 6 are marked in FIGS. 1 and 2 with arrows.
• the magnetic object 8 is arranged in an endoscopic probe 14 and is moved through the container 7 with the aid of the magnetic fields of the dipoles 1 - 4 and the quadrupoles 5 , 6 and the movement of the carriage 13 .
• FIG. 3 shows an enlarged view of the object 8 from FIGS. 1 and 2 arranged in the probe 14.
• the object 8 is a preferably spherical permanent magnet or magnetizable material.
• the probe 14 also contains a sensor 15 and an induction coil 16. In an embodiment that is not shown, the probe 14 can also contain a medical tool, for example for biopsy, for thermal treatment or the like.
• FIG. 4 schematically shows a longitudinal section through the arrangement of the dipoles 1-4 and the quadrupoles 5, 6 shown in FIG. Arrows shown in the dipoles 1-4 and the quadrupoles 5, 6 represent the magnetic orientation there.
• the arrows shown in the center and labeled F represent the resultant magnetic force vectors in the x, y, and z planes.
• the arrows marked B represent the magnetic flux density.
• the magnetic object 8 is oriented in the x direction and is moved and accelerated in the central xy plane by rotation of the two quadrupoles 5, 6.
• FIG. 5 schematically shows a different orientation of the dipoles 1-4 and the quadrupoles 5, 6 shown in FIG. 1 than in FIG. A corresponding rotation brings the two quadrupoles 5, 6 into a compensation position relative to one another, so that the object 8 does not move in the xy plane.
• Dipoles 1-4 are rotated to an opposite orientation. As a result, a magnetic field gradient is generated along the z-direction and the object 8 is thus moved in this direction.
• FIG. 6 shows a schematic representation of the geometry of Halbach cylinders: a) shows the dipoles 1-4 described in FIGS. 1 to 5:
• the homogeneous magnetic field is generated by a ring-shaped cylinder made of permanent magnet material.
• the arrows 17 shown in the cylinder 1 indicate the magnetization of this material, which changes continuously over the entire circumference. However, the arrows 17 can also be formed by individual magnets.
• the magnitude (strength) of the magnetic field is represented by shading of a space 18 surrounding the cylinder. In the room 18 the container 7 shown in FIGS. 1 to 5 is arranged with the object 8 .
• the field is homogeneous here.
• the direction of the magnetic field is additionally shown by arrowed flux lines 19 , b ) shows the quadrupoles 5 , 6 shown in FIGS . 1 to 5 in the same representation as a ) . c ) and d) now show the By and By components of the magnetic field in b ).
• the black and white arrows now show the strength and direction of the magnetic field (no flux lines).
• the different strength of the magnetic field is shown in the shading in a/b and c/d.

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• Health & Medical Sciences (AREA)
• Life Sciences & Earth Sciences (AREA)
• Surgery (AREA)
• Engineering & Computer Science (AREA)
• General Health & Medical Sciences (AREA)
• Veterinary Medicine (AREA)
• Public Health (AREA)
• Animal Behavior & Ethology (AREA)
• Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
• Molecular Biology (AREA)
• Biomedical Technology (AREA)
• Heart & Thoracic Surgery (AREA)
• Medical Informatics (AREA)
• Robotics (AREA)
• Biophysics (AREA)
• Radiology & Medical Imaging (AREA)
• Physics & Mathematics (AREA)
• Pathology (AREA)
• Optics & Photonics (AREA)
• Magnetic Resonance Imaging Apparatus (AREA)
• Endoscopes (AREA)
• Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Priority Applications (3)

Applications Claiming Priority (2)

Publications (1)

Family

ID=84230675

Family Applications (1)

Country Status (5)

Citations (4)

Family Cites Families (3)

• 2021
  • 2021-10-05 DE DE102021125870.7A patent/DE102021125870A1/de active Pending
• 2022
  • 2022-09-16 US US18/686,918 patent/US20240349991A1/en active Pending
  • 2022-09-16 JP JP2024521242A patent/JP2024539857A/ja active Pending
  • 2022-09-16 EP EP22801693.7A patent/EP4412550A1/de active Pending
  • 2022-09-16 WO PCT/DE2022/100691 patent/WO2023057007A1/de not_active Ceased

Patent Citations (4)

Non-Patent Citations (3)

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