Electromagnetic array device and control method

1. The present invention relates to the field of magnetic micro-robot control, in particular to an electromagnetic array device and a control method.

Background technique:

2. At present, the existing magnetic micro-robots for in-vivo work mostly exist in the form of magnetic particles, magnetic fluids, etc., and are mostly used for object handling, targeted drug delivery, detection and treatment in human blood vessels. These robots are powered by magnetic fields and their movements are controlled by the magnetic fields.

3. The existing control methods are mainly based on three-dimensional Helmholtz coils, Maxwell coils, multi-stage electromagnets and permanent magnets. But the above methods without exception can only realize the motion control of magnetic micro-robots by generating a large-scale magnetic field in space. This approach brings corresponding disadvantages:

4. (1) All magnetic micro-robots work in a common magnetic field environment, and their movements and functions are limited by this working magnetic field. The movements between robots are interrelated, and each robot cannot work independently. , so each robot has large limitations and low degrees of freedom during work, and cannot fully play its role.

5. (2) The human body occupies a certain space in the space. To use a space magnetic field to control the magnetic micro-robot to move around in the human body, a large enough magnetic field is required to cover the starting area and the ending area, so a magnetic field is generated. The device will be very large and take up a lot of space.

6. Therefore, in order to solve the above two problems, it is urgent to provide a new control device or control method.

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