Magnetic end effector and device for guiding and positioning the same

摘要

A magnetic guiding device (robotics) for an intracorporeal object includes a motor-driven positioning device having a maximum of three degrees of freedom to be activated for translational motion of a connecting interface of the positioning device to which a magnetic end effector is connected or connectable, the latter including a maximum of two degrees of freedom to be activated for rotational motion of a magnetic field generator. At least one of the two degrees of freedom of the magnetic end effector is encased in an effector housing.

主权项

1. An extracorporeal guiding device for an intracorporeal magnetic object, the extracorporeal guiding device comprising:
a motor-driven positioning device; a distal connecting interface connected to the positioning device; and an end effector connected to the distal connecting interface, the end effector comprising:
a housing connected to the distal connecting interface by a coupling;a magnetic field generator inside the housing; andat least one actuator connected to the magnetic field generator inside the housing, the motor-driven positioning device providing a maximum of three degrees of freedom for moving the distal connecting interface in translation along a maximum of three axes in an extracorporeal space coordinate system; the at least one actuator inside the housing providing a maximum of two degrees of freedom for rotating the magnetic field generator about a maximum of two axes of rotation inside the housing in the space coordinate system; and the coupling supporting and maintaining the housing in a fixed orientation relative to the positioning device during translation of the distal connecting interface and during rotation of the magnetic field generator inside the housing, such that the orientation of the housing remains constant and independent of any translation of the distal connecting interface and any rotation of the magnetic field generator during extracorporeal guidance of the intracorporeal magnetic object, wherein the three degrees of freedom of the positioning device exclusively allow a translational motion of the distal connecting interface in an X-, Y- and Z-direction of the space coordinate system in which a Y-axis is orientated substantially along a gravity direction and a Z-axis is orientated along a longitudinal and thus polarization axis of the magnetic field generator, whereas the two degrees of freedom of the at least one actuator exclusively allow a respective rotational motion of the magnetic field generator about the Y- and X-axis of the space coordinate system so as to cause yawing and pitching of the magnetic field generator with respect to the space coordinate system.