Magnetic Navigation System With Gradient and Uniform Saddle Coils for the Wireless Manipulation of Micro-Robots in Human Blood Vessels

A magnetic navigation system (MNS) for the wireless manipulation of micro-robots in human blood vessels is a possible surgical tool for coronary artery disease. This paper proposes a novel MNS composed of one conventional pair of Maxwell and Helmholtz coils and one newly developed pair of gradient and uniform saddle coils. The proposed system was theoretically developed using the Biot-Savart law, and it was verified experimentally after constructing the proposed MNS. The proposed MNS is geometrically compact to allow a patient to lie down, and magnetically efficient compared with the conventional MNS which has two pairs of Maxwell and Helmholtz coils.