MANEUVERING COILS SETUP FOR MANEUVERING A SWALLOWABLE IN-VIVO DEVICE
First Claim
1. A magnetic system for maneuvering an in-vivo device in an operating region, the magnetic system comprising:
- a number N of ternary coil assemblies, each ternary coil assembly comprising;
an anterior coil and a conjugated posterior coil, the anterior and posterior coils adjacently mounted side by side, the anterior and posterior coils respectively having an anterior axis and a posterior axis parallel to said anterior axis, each of the anterior and posterior coils configured to individually generate a magnetic field in a direction aligned with the respective axis and, jointly, in a direction which is at angle with respect to the axes; and
an ancillary coil attached to, or encircling the, anterior and posterior coils and having an ancillary axis parallel to, and in-between, the anterior and posterior axes,wherein the N ternary coil assemblies are positioned to form a circle having a plane such that the anterior coils are positioned on one side of the plane and the posterior coils are positioned on the opposite side of the plane, and wherein each ternary coil assembly has a paired, conjugated, ternary coil assembly on the opposite side of the circle formed by the N ternary coils assemblies, and the anterior, posterior and ancillary axes of each ternary coil assembly are parallel to the plane.
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Abstract
A ternary coil assembly (TCA) is provided, which may include an anterior coil, a posterior coil adjacently mounted side by side with respect to, and electrically isolated from and forming a plane with, the anterior coil, and an ancillary coil encircling, and electrically isolated from, the anterior and posterior coils. A magnetic field maneuvering system may include a number N of TCAs that may be positioned circularly. The circularly positioned TCAs, by manipulating their electrical current, may be operated to generate a magnetic field maneuvering pattern (MMP) such that a magnetic field may be generated in a first direction to orient a device in that direction, and a magnetic field gradient in a second direction to apply a movement force in the second direction. The direction of the magnetic field and the direction of the magnetic field gradient may differ, that is, they may be controlled independently.
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Citations
22 Claims
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1. A magnetic system for maneuvering an in-vivo device in an operating region, the magnetic system comprising:
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a number N of ternary coil assemblies, each ternary coil assembly comprising; an anterior coil and a conjugated posterior coil, the anterior and posterior coils adjacently mounted side by side, the anterior and posterior coils respectively having an anterior axis and a posterior axis parallel to said anterior axis, each of the anterior and posterior coils configured to individually generate a magnetic field in a direction aligned with the respective axis and, jointly, in a direction which is at angle with respect to the axes; and an ancillary coil attached to, or encircling the, anterior and posterior coils and having an ancillary axis parallel to, and in-between, the anterior and posterior axes, wherein the N ternary coil assemblies are positioned to form a circle having a plane such that the anterior coils are positioned on one side of the plane and the posterior coils are positioned on the opposite side of the plane, and wherein each ternary coil assembly has a paired, conjugated, ternary coil assembly on the opposite side of the circle formed by the N ternary coils assemblies, and the anterior, posterior and ancillary axes of each ternary coil assembly are parallel to the plane. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A ternary coil assembly for a magnetic system for maneuvering an in-vivo device, comprising,
an anterior coil; -
a posterior coil adjacently mounted side by side with respect to, and electrically isolated from and forming a plane with, the anterior coil; and an ancillary coil attached to or encircling, and electrically isolated from, the anterior and posterior coils, wherein the anterior and posterior coils are configured to, by manipulating their electrical current, generate a magnetic field in a first direction and a magnetic field gradient in a second direction different from the first direction. - View Dependent Claims (16)
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17. A method for magnetically maneuvering an in-vivo device in a gastrointestinal system, comprising:
simultaneously generating a magnetic field to align an in-vivo device in a first direction and a magnetic field gradient to exert force on the in-vivo device in a second direction to thereby manipulate the location and/or orientation of the in-vivo device. - View Dependent Claims (18, 19, 20)
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21. A method of operating a magnetic system for maneuvering an in-vivo device in a gastrointestinal system, comprising:
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in a magnetic maneuvering system comprising; a number N of ternary coil assemblies, where each ternary coil assembly comprises, an anterior coil and a posterior coil, the anterior and posterior coils adjacently mounted side by side, the anterior and posterior coils respectively having an anterior axis and a posterior axis parallel to said anterior axis, each of the anterior and posterior coils configured to individually generate a magnetic field in a direction aligned with the respective axis and, jointly, in a direction perpendicular to the axes; an ancillary coil, said ancillary coil encircling the anterior and posterior coils and having an ancillary axis parallel to, and in-between, the anterior and posterior axes, wherein the N ternary coil assemblies are positioned circularly and form a plane such that the anterior and posterior coils are positioned in opposite directions with respect to the plane, and wherein each ternary coil assembly has a paired ternary coil assembly on the opposite side of the circle, and the anterior, posterior and ancillary axes of each ternary coil assembly are perpendicular to a normal of the plane; and a controller configured to operate the N ternary coil assemblies to generate a magnetic field maneuvering pattern within an operating region, the method comprising; receiving, by the controller, a location and orientation data representative of a current location and orientation of an in-vivo device in the gastrointestinal system of a subject positioned in the circular N ternary coil assemblies; obtaining, by the controller, an intended location and/or orientation of the in-vivo device in the gastrointestinal system; and generating, by the controller, a control signal for each ternary coil assembly based on the location and orientation data and on the intended location and orientation. - View Dependent Claims (22)
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Specification