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17 February 2012 Simulation, design, and analysis for magnetic anchoring and guidance of instruments for minimally invasive surgery
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The exploration of natural orifice transluminal endoscopic surgery (NOTES) has brought considerable interest in magnetic anchoring of intracorporeal tools. Magnetic anchoring and guidance system (MAGS) is the concept of anchoring miniature in-vivo tools and device to the parietal peritoneum by coupling with an external magnetic holder module placed on the skin surface. MAGS has been shown to be effective in anchoring passive tools such as in-vivo cameras or tissue retractors. The strength of the magnetic field and magnet configurations employed depends on the size, shape and weight of the in-vivo tools, the coupling distance between internal and external modules, and physiological concerns such as tool interaction and tissue ischemia. This paper presents our effort to develop a better understanding of the coupling dynamic between a small in-vivo robot designed for tissue manipulation, and an external MAGS handle used to position the in-vivo robot. An electromagnetic simulation software (Vizimag 3.19) was used to simulate coupling forces between a two-magnet configuration of the MAGS handle. A prototype model of the in-vivo robot and a two-magnet configuration of a MAGS handle were fabricated. Based on this study, we were able to identify an optimal design solution for a MAGS module given the mechanical constraints of the internal module design.
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Haifeng Luo, Emmanuel Wilson, and Kevin Cleary "Simulation, design, and analysis for magnetic anchoring and guidance of instruments for minimally invasive surgery", Proc. SPIE 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling, 83162K (17 February 2012);

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