MAGNETIC LINEAR ACTUATOR FOR DEPLOYABLE CATHETER TOOLS
First Claim
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1. An apparatus for moving a medical tool on the distal tip of a catheter while in the body of a patient comprising:
- a permanent magnet;
a bobbin enclosing the permanent magnet and which is free to slide along the surface of the magnet;
at least two separate coils of electrical wire wound around the bobbin; and
an actuator arm coupled to the bobbin that translates movement of the bobbin into movement of the medical tool.
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Abstract
Using the linear forces that are provided by an electromagnetic solenoid applied near the distal end of a medical catheter, various surgical instruments can be actuated or deployed for use in interventional medicine. The linear actuator uses the principles of magnetic repulsion and attraction as a means for moving a bobbin that can be attached to various types of moving components that translate linear movements into the actuation of a tool that is attached to the linear actuator. Using independent solenoid coils, movement modality is increased from two possible positions to three.
1312 Citations
17 Claims
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1. An apparatus for moving a medical tool on the distal tip of a catheter while in the body of a patient comprising:
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a permanent magnet; a bobbin enclosing the permanent magnet and which is free to slide along the surface of the magnet; at least two separate coils of electrical wire wound around the bobbin; and an actuator arm coupled to the bobbin that translates movement of the bobbin into movement of the medical tool. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for magnetically moving a medical tool deployed on the distal tip of a catheter while in the body of a patient comprising:
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detecting the position and orientation of the medical tool in the patient using a position detection system; applying two variable electric currents to two separate coils of wire; creating a change in the magnetic flux enclosed by a bobbin on which the coils are wound; transducing the change in flux into a mechanical force coupled to the medical tool; and sliding the bobbin and coils distally and proximally in response to the force to move the medical tool that is coupled to the bobbin via an actuator arm. - View Dependent Claims (13, 14, 15, 16, 17)
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Specification