CN216562655U - Multi-degree-of-freedom magnetic field control device - Google Patents
Multi-degree-of-freedom magnetic field control device Download PDFInfo
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- CN216562655U CN216562655U CN202123048746.4U CN202123048746U CN216562655U CN 216562655 U CN216562655 U CN 216562655U CN 202123048746 U CN202123048746 U CN 202123048746U CN 216562655 U CN216562655 U CN 216562655U
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Abstract
The utility model discloses a magnetic field control device with multiple degrees of freedom. The magnetic field control device with multiple degrees of freedom comprises: the magnetic field generating device comprises at least two magnetic field generating pieces, each magnetic field generating piece is used for generating a controllable magnetic field, and the controllable magnetic field is used for applying magnetic field force to the magnetic in-vivo micro-robot so as to enable the in-vivo micro-robot and the magnetic field generating device to reach a relatively static equilibrium state; the control device comprises a rotating assembly, the magnetic field generating device is arranged on the rotating assembly, and the rotating assembly is used for controlling the magnetic field generating device in a balanced state to rotate so as to pull the in-vivo micro-robot in the balanced state to rotate in multiple degrees of freedom. The equipment integrally rotates the controllable magnetic field, so that the internal micro robot can be pulled to rotate, more rotational degrees of freedom can be realized, the rotation track can be accurately controlled, and the relative displacement between the internal micro robot and an inspection object can be realized by combining a displacement assembly or a bearing assembly.
Description
Technical Field
The utility model belongs to the technical field of medical equipment, and particularly relates to a multi-degree-of-freedom magnetic field control device.
Background
In the field of medical examination equipment, equipment for diagnosis and treatment in a human body is difficult to develop, and the main bottleneck is that a micro instrument platform or a robot platform entering the human body cannot be directly controlled. For example, various medical scanning examinations, organ lesion observations, etc. are performed on internal structures such as human body ducts, tissue and organ cavities, etc. in general, people often connect an internal examination system at the end of an inserted duct by means of a curved or serpentine mechanical control device, and control the movement of the internal examination system by the action of an external mechanical handle, etc. to achieve the purpose of covering saccadic examinations. However, the hard connection insertion method not only brings great pain to patients, but also easily brings trauma to human tissues in the insertion and use processes, and faces great cross infection risks; more importantly, the problems that various irregular and complex in-vivo tissues and organs of the system are difficult to enter a channel and limited in the freedom of movement in the channel are solved, the examination is inconvenient, even difficult to complete, and the use requirement of a scene cannot be met.
With the development of the magnetic capsule robot technology, the problems are better solved. The basic principle of this technology is that, after an inspection object swallows a capsule robot, the motion, attitude adjustment, and the like of the capsule robot are controlled by applying a magnetic field outside the body. Magnetic field control, as a non-contact control method or method, is generally designed as follows on a magnetic control method of a micro device in a medical body: the relative position change or the magnetic field state change of the controlled object in the magnetic field is changed by changing the self movement or the self position change of the control magnetic pole, so that the stress change of the controlled object in the magnetic field is changed, and the control of the controlled object is realized. In the control method of single magnetic pole traction mode, each motion state of the magnetic pole has only one magnetic field state corresponding to the motion state, and accurate control of any state of a controlled target is difficult to realize.
SUMMERY OF THE UTILITY MODEL
(I) technical problems to be solved by the utility model
The technical problem solved by the utility model is as follows: how to realize the multi-degree-of-freedom control of a controlled object in a magnetic field.
(II) the technical scheme adopted by the utility model
A multi-degree-of-freedom magnetic field manipulation apparatus, comprising:
the magnetic field generating device comprises at least two magnetic field generating pieces, each magnetic field generating piece is used for generating a controllable magnetic field, and the controllable magnetic field is used for applying a magnetic field force to the magnetic in-vivo micro-robot so as to enable the in-vivo micro-robot and the magnetic field generating device to reach a relatively static equilibrium state;
and the control device comprises a rotating assembly, the magnetic field generating device is arranged on the rotating assembly, and the rotating assembly is used for controlling the magnetic field generating device to rotate under a balanced state so as to pull the in-vivo micro robot under the balanced state to rotate with multiple degrees of freedom.
Preferably, the control device further includes:
and the bearing assembly is used for bearing and moving the inspection object so as to enable the inspection object and the in-vivo micro-robot which is positioned in the body of the inspection object and is in a balanced state to perform relative movement.
Alternatively, the control device further includes:
and the displacement assembly is used for controlling the magnetic field generating device in the balanced state to translate so as to draw the in-vivo micro robot in the balanced state to translate with multiple degrees of freedom.
Preferably, the rotating assembly comprises a support frame, a first ring-shaped member, a second ring-shaped member and a third ring-shaped member, wherein the side wall of the first ring-shaped member is rotatably connected with the support frame, and the first rotating shaft of the first ring-shaped member penetrates through the inner side wall of the first ring-shaped member; the second annular piece is positioned in the first annular piece, the side wall of the second annular piece is rotationally connected with the side wall of the first annular piece, and the second rotating shaft of the second annular piece penetrates through the inner side wall of the second annular piece; the third ring-shaped piece is positioned in the first ring-shaped piece and arranged on the second ring-shaped piece, and the third ring-shaped piece can rotate in the circumferential direction; the magnetic field generating device is arranged on the third annular piece.
Preferably, the first axis of rotation, the second axis of rotation and a third axis of rotation of the third ring member are perpendicular to each other.
Preferably, the displacement assembly comprises a lifting mechanism, a first moving arm and a second moving arm, the lifting mechanism is used for driving the first moving arm to move along a first preset direction, and the second moving arm is rotationally connected with the first moving arm; the rotating assembly comprises a second annular piece and a third annular piece, the third annular piece is arranged on the second annular piece and can rotate circumferentially, the magnetic field generating device is arranged on the third annular piece, the side wall of the second annular piece is rotatably connected with the second moving arm, and a second rotating shaft of the second annular piece penetrates through the inner side wall of the second annular piece during rotation; the second moving arm is used for driving the second annular member to move along a preset plane.
Preferably, the bearing assembly includes a base, a lifting member, a supporting table and a supporting plate, opposite ends of the lifting member are respectively connected to the base and the supporting table, the supporting plate is mounted on the supporting table, the lifting member is movable relative to the base along a first direction, the lifting member is configured to lift the supporting table along a second direction, the supporting plate is movable relative to the supporting table along a third direction, and the supporting plate is configured to bear the inspection object, wherein the first direction, the second direction and the third direction are perpendicular to each other.
(III) advantageous effects
Compared with the traditional equipment, the multi-degree-of-freedom magnetic field control equipment disclosed by the utility model has the following technical effects:
the system utilizes the magnetic field generating pieces to manufacture the controllable magnetic field in a certain space area, and integrally rotates the controllable magnetic field through the rotating assembly, so that the micro-robot in the body can be pulled to rotate with multiple degrees of freedom.
Meanwhile, the bearing assembly or the displacement assembly can be further combined to realize the relative displacement of the micro robot in the body and the inspection object, so that richer movement tracks are obtained.
Drawings
Fig. 1 is a schematic structural diagram of a magnetic field manipulation apparatus with multiple degrees of freedom according to a first embodiment of the present invention;
fig. 2 is an exploded view of a structure of a multi-degree-of-freedom magnetic field manipulation apparatus according to a first embodiment of the present invention;
fig. 3 is a schematic view illustrating another rotation angle of the multi-degree-of-freedom magnetic field manipulation apparatus according to the first embodiment of the present invention;
fig. 4 is a schematic view illustrating a state of another rotation angle of the multi-degree-of-freedom magnetic field manipulation apparatus according to the first embodiment of the present invention;
fig. 5 is a schematic structural diagram of a multi-degree-of-freedom magnetic field manipulation apparatus according to a second embodiment of the present invention;
fig. 6 is a schematic structural diagram of another view angle of a multi-degree-of-freedom magnetic field manipulation apparatus according to a second embodiment of the present invention;
fig. 7 is a schematic structural diagram of a magnetic field manipulation apparatus with multiple degrees of freedom according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
Before describing in detail the various embodiments of the present application, the technical idea of the present application is first briefly described: when a magnetic field is used for controlling in-vivo micro-robots such as a capsule endoscope in the prior art, a single magnetic pole is generally moved or rotated, so that the magnetic field force borne by a controlled target is changed, and the controlled target is moved or rotated. The utility model provides a multi freedom magnetic field control equipment, at first utilize each magnetic field of magnetic field generating device to take place a controllable magnetic field of piece jointly generation, controllable magnetic field exerts magnetic force to having magnetic controlled target, controlled target is tied and reaches under the balanced state of relative rest with magnetic field generating device, utilize rotating assembly control magnetic field generating device whole to rotate this moment, thereby pull controlled target and follow the rotation, because at the rotation in-process, controlled target and magnetic field generating device remain relative rest throughout, do not need to change a magnetic field generating piece alone like this and control controlled target, only need remove whole magnetic field generating device, be favorable to realizing more rotational degrees of freedom like this, and be favorable to accurate control rotation orbit.
Specifically, as shown in fig. 1, the multiple degree of freedom magnetic field manipulation apparatus of the first embodiment at least includes a magnetic field generation device and a control device. The magnetic field generating device comprises at least two magnetic field generating pieces 101, each magnetic field generating piece 101 is used for generating a controllable magnetic field, and the controllable magnetic field is used for applying magnetic field force to the magnetic in-vivo micro-robot so as to enable the in-vivo micro-robot and the magnetic field generating device to reach a relatively static equilibrium state. The control device at least comprises a rotating assembly 200, the magnetic field generating device is arranged on the rotating assembly 200, and the rotating assembly 200 is used for controlling the magnetic field generating device in a balanced state to rotate so as to draw the micro robot in the body in the balanced state to rotate with multiple degrees of freedom.
It should be noted that the form of the rotating assembly 200 may be various, and the protection scope is within the scope as long as the effect of the first embodiment can be achieved. For example, to facilitate the explanation of the rotation process of the magnetic field generating device, the first embodiment provides one of the rotating assemblies, as shown in fig. 2 and 3:
the rotating assembly 200 comprises a support frame 210, a first ring member 220, a second ring member 230 and a third ring member 240, wherein the side wall of the first ring member 220 is rotatably connected with the support frame 210, and the first rotating shaft of the first ring member 220 passes through the inner side wall of the first ring member 220; the second annular member 230 is located inside the first annular member 220, the side wall of the second annular member 230 is rotatably connected with the side wall of the first annular member 220, and the second rotating shaft of the second annular member 230 passes through the inner side wall of the second annular member 230; the third ring member 230 is positioned in the first ring member 220 and arranged on the second ring member 230, and the third ring member 240 can rotate circumferentially; the magnetic field generating means is provided on the third annular member 240. Through the rotating fit of the first annular piece 220, the second annular piece 230 and the third annular piece 240, various rotating states are combined, so that the multi-degree-of-freedom rotation of the magnetic field generating device is realized.
Illustratively, the supporting frame 210 comprises a first supporting arm 211 and a second supporting arm 212 which are displaced to opposite sides, the bottom of the first supporting arm 211 and the bottom of the second supporting arm 212 are fixedly connected through a connecting rod 213, and a first ring member 220 is integrally located between the first supporting arm 211 and the second supporting arm 212. The lateral wall of the relative both sides of first loop forming element 220 rotates with first support arm 211, second support arm 212 respectively and is connected, realizes the rotation of first loop forming element 220, and under this kind of installation, first loop forming element 220 swung, and the inside wall of the relative both sides of first loop forming element 220 is passed to first pivot. It should be noted that, the first ring member 220 can swing under the inner side wall of at least one side through which the first rotation shaft passes, and the swing is within the protection range.
Further, the first ring member 220 may have various shapes, and for convenience of description, the first ring member 220 is exemplified by a circular ring member, and the first rotation axis passes through a diameter of the first ring member 220. The first support arm 211 is provided with a first reducer 213 and a first servo motor 214, a rotating shaft of the first reducer 213 penetrates through and is fixedly connected to a side wall of the first annular member 220, the first servo motor 214 is used for controlling a rotating angle and a rotating speed of the first reducer 213, correspondingly, the second support arm 212 is provided with a first bearing seat 215, and a rotating shaft of the first bearing 215 penetrates through a side wall of the first annular member 220. Thus, the first ring member 220 may be driven to rotate to a predetermined angle by the rotation shaft of the first reducer 213, and fig. 3 shows a state where the first ring member 220 rotates to another angle.
Further, the second ring 230 may have various shapes, and for convenience of description, the second ring 230 is exemplified by a circular ring, and the second rotation axis passes through the diameter of the second ring 230. A second reducer 221 and a second servo motor 222 are installed on a side wall of one side of the first ring member 220, a rotating shaft of the second reducer 221 passes through and is fixedly connected to a side wall of the second ring member 230, the second servo motor 222 is used for controlling a rotating angle and a rotating speed of the second reducer 221, correspondingly, a second bearing 223 is installed on a side wall of one side of the first ring member 220, and a rotating shaft of the second bearing 223 passes through a side wall of the second ring member 230, so that the second ring member 230 can be driven to rotate to a predetermined angle by the rotating shaft of the second reducer 221. Fig. 4 shows a state in which the second ring 230 is rotated to another angle.
Further, the third ring member 240 may have various shapes. Exemplarily, in conjunction with fig. 6, for convenience of description, the third ring member 240 is exemplified by a circular ring member, and the third rotation axis coincides with the central axis of the third ring member 240. The third ring-shaped element 240 is connected with the second ring-shaped element 230 through a slewing bearing 250, wherein an outer ring 251 of the slewing bearing 250 is fixed on the second ring-shaped element 230, the third ring-shaped element 240 is fixed on an inner ring 252 of the slewing bearing 250, the second ring-shaped element 230 is provided with a third speed reducer 231, a third servo motor 232 and a gear 233, the gear 233 is meshed with a rack on the inner ring 252, a rotating shaft of the third speed reducer 231 penetrates through and is fixedly connected to the gear 233, and the third servo motor 232 is used for controlling a rotating angle and a rotating speed of the third speed reducer 231, so that the inner ring 252 can be driven to rotate in the circumferential direction through the rotating shaft of the third speed reducer 231, and the third ring-shaped element 240 is driven to rotate in the circumferential direction.
When the first ring-shaped member 220, the second ring-shaped member 230 and the third ring-shaped member 240 are all circular ring-shaped members, the first rotating shaft, the second rotating shaft and the third rotating shaft are perpendicular to each other, and rotation with different degrees of freedom and different angles can be realized in a combined manner by independently controlling one ring-shaped member, two ring-shaped members, three ring-shaped members and the like.
Further, the two magnetic field generating members 101 of the magnetic field generating device are symmetrically arranged and respectively mounted on the third ring member 240, and the magnetic field direction of the controllable magnetic field is directed from one of the magnetic field generating members 101 to the other magnetic field generating member 101. In other embodiments, the number of the magnetic field generating members 101 may also be multiple, for example, four, six, eight, etc., each two magnetic field generating members 101 are symmetrically disposed on the third ring member 240, and the magnetic fields generated by the magnetic field generating members 101 of each pair overlap in a certain spatial region to form a controllable magnetic field. The strength of the magnetic field generated by the magnetic field generating element 101 of the first embodiment is adjustable to change the magnetic field strength of the controllable magnetic field, and the specific structure of the magnetic field generating element 101 is the prior art and will not be described herein.
Further, in the second embodiment, the control device further comprises a carrying assembly 300, and the carrying assembly 300 is used for carrying and moving the inspection object, so that the inspection object and the intracorporeal micro robot which is located in the body of the inspection object and is in a balanced state perform relative movement.
It should be noted that the form of the bearing assembly 300 can be various, and is within the protection scope as long as the effect of the first embodiment can be achieved. For example, for convenience of describing the moving process, the second embodiment provides one of the forms of the bearing assembly, as shown in fig. 5:
specifically, the bearing assembly 300 includes a base 310, an elevating member 320, a supporting stage 330 and a supporting plate 340, opposite ends of the elevating member 320 are respectively connected to the base 310 and the supporting stage 330, the supporting plate 340 is mounted on the supporting stage 330, the elevating member 320 is movable in a first direction with respect to the base 210, the elevating member 320 is used for elevating the supporting stage 330 in a second direction, the supporting plate 340 is movable in a third direction with respect to the supporting stage 330, and the supporting plate 340 is used for bearing the inspection object, wherein the first direction, the second direction and the third direction are perpendicular to each other. Wherein the support plate 340 may pass through the third ring member 240 so that the intra-body micro robot in the inspection object is located within the controllable magnetic field region. The elevating member 320 and the base 310 can be slidably connected, and the supporting plate 340 and the supporting table 330 can be slidably connected in various ways, which are well known to those skilled in the art and will not be described herein.
Through the cooperation of rotating assembly 200 and carrier assembly 300, can realize that the internal micro robot that is in the balanced state carries out the motion of six degrees of freedom, three degrees of freedom's rotation and three degrees of freedom's removal promptly, and the motion control to internal micro robot is more stable, complete continuous, convenient succinct.
In the third embodiment, as shown in fig. 7, the control device further includes a displacement assembly 400, the rotating assembly 200 is mounted on the displacement assembly 400, and the displacement assembly 400 is used for moving the rotating assembly 200 to control the magnetic field generating device in the equilibrium state to perform translation, so as to pull the in-vivo micro-robot in the equilibrium state to perform multi-degree-of-freedom translation.
It should be noted that the form of the displacement assembly 400 can be varied and is within the protection scope as long as the effect of the third embodiment can be achieved. For example, to facilitate the description of the moving process, the third embodiment provides one of the forms of the displacement assembly, as shown in fig. 7:
specifically, the displacement assembly 400 includes a lifting mechanism 410, a first moving arm 420 and a second moving arm 430, the lifting mechanism 410 is configured to drive the first moving arm 420 to move along a first predetermined direction, the second moving arm 430 is rotatably connected to the first moving arm 420, and the second moving arm 430 is configured to drive the rotating assembly 200 to rotate along a predetermined plane, the movement on the predetermined plane can be regarded as the superposition of the movement along the second predetermined direction and the movement along a third predetermined direction, and the first predetermined direction, the second predetermined direction and the third predetermined direction are different directions. Preferably, the three predetermined directions are perpendicular to each other, so that movement of the rotating assembly 200 in three dimensions is achieved. Illustratively, the first predetermined direction is a vertical direction and the predetermined plane is a horizontal plane.
Further, the lifting speed and the lifting height of the lifting mechanism 410 can be controlled, and the implementation forms thereof are various, which are well known to those skilled in the art and will not be described herein. The second moving arm 430 and the first moving arm 420 are connected in a rotating manner in various ways, the rotating speed and the rotating angle of the second moving arm 430 on a predetermined plane are controllable, and the second moving arm can be realized by a servo motor and a reducer.
Further, the rotating assembly 200 in the third embodiment is different from the first embodiment in that: the rotating assembly 200 in the third embodiment includes a second ring member 230 and a third ring member 240. The side wall of the second ring 230 is rotatably connected to the second moving arm 430, and the second rotating shaft of the second ring 230 when rotating passes through the inner side wall of the second ring 230. Illustratively, a connecting portion 230a is disposed on a side wall of the second ring 230, a fourth reducer 431 and a fourth servo motor 432 are mounted on a free end of the second moving arm 430, a rotating shaft of the fourth reducer 431 is fixedly connected to the connecting portion 230a, the fourth servo motor 432 is used for controlling a rotating angle and a rotating speed of the rotating shaft of the fourth reducer 431, and the second ring 230 can be driven to rotate to a predetermined angle by the rotating shaft of the fourth reducer 431. In this embodiment, other contents of the second annular member 230 and the third annular member 240 and the connection relationship therebetween are the same as those in the first embodiment, and reference may be made to the above contents, which are not described herein again.
Further, in the present embodiment, the third ring member 240 is provided with a fixing seat 241, the magnetic field generating member 101 is rotatably connected to the fixing seat 241, and the fourth rotation axis when the magnetic field generating member 101 rotates, the second rotation axis when the second ring member 230 rotates, and the third rotation axis when the third ring member 240 rotates are perpendicular to each other, so that the rotation of the controllable magnetic field in three degrees of freedom can be realized.
The three-way cooperation of rotating assembly 200 and displacement assembly 400 of this embodiment can realize that the internal micro robot that is in the balanced state carries out the motion of six degrees of freedom, and rotation and the removal of three degrees of freedom promptly are more stable, continuous completely, convenient succinct to the motion control of internal micro robot.
The fourth embodiment also discloses a control method of the multi-degree-of-freedom magnetic field control device, which comprises the following steps:
step S10: the controllable magnetic field with preset intensity is generated by the magnetic field generating device, and the controllable magnetic field is used for applying magnetic field force to the internal micro-robot with magnetism, so that the internal micro-robot is in a preset posture and is in a static balance state relative to the magnetic field generating device.
Step S20: and the rotating assembly is used for controlling the magnetic field generating device in the balanced state to rotate according to a preset rotating mode so as to pull the in-vivo micro robot in the balanced state to rotate according to the preset rotating mode.
Step S30: and the displacement assembly is used for bearing the inspection object and moving the inspection object according to a preset displacement mode so as to enable the inspection object and the in-vivo micro-robot which is positioned in the body of the inspection object and is in a balanced state to carry out relative movement.
Wherein, the implementation manner of step S30 may also be: and controlling the magnetic field generating device in the balanced state to translate according to a predetermined displacement mode by using the displacement assembly so as to draw the in-vivo micro robot in the balanced state to translate.
For the specific processes of step S10, step S20, and step S30, reference is made to the descriptions of the magnetic field generating device, the rotating component, the bearing component, and the displacement component in the first embodiment and the second embodiment, which are not described herein again.
The control method provided by the fourth embodiment realizes the manufacturing of the controllable variable magnetic field in a certain space area, the control of the multi-degree-of-freedom motion change of the controllable variable magnetic field, and the combination of the controllable variable magnetic field and the multi-degree-of-freedom motion change, and the precise change matching of the state of the magnetic field required by the motion attitude of the micro robot in the body; that is, at an arbitrary inner wall attachment position point in the human body, a predetermined motion pattern is set for the three-dimensional motion traction, three-dimensional rotation, etc. of the in-vivo micro-robot by the rotatable member and the displacement member, thereby controlling the motion trajectory of the in-vivo micro-robot with respect to the inspection object.
Although a few embodiments of the present invention have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the claims and their equivalents, and that such changes and modifications are intended to be within the scope of the utility model.
Claims (7)
1. A multi-degree-of-freedom magnetic field manipulation apparatus, comprising:
the magnetic field generating device comprises at least two magnetic field generating pieces, each magnetic field generating piece is used for generating a controllable magnetic field, and the controllable magnetic field is used for applying a magnetic field force to the magnetic in-vivo micro-robot so as to enable the in-vivo micro-robot and the magnetic field generating device to reach a relatively static equilibrium state;
and the control device comprises a rotating assembly, the magnetic field generating device is arranged on the rotating assembly, and the rotating assembly is used for controlling the magnetic field generating device to rotate under a balanced state so as to pull the in-vivo micro robot under the balanced state to rotate with multiple degrees of freedom.
2. The multiple degree of freedom magnetic field manipulation device of claim 1, wherein the control means further comprises:
and the bearing assembly is used for bearing and moving the inspection object so as to enable the inspection object and the in-vivo micro-robot which is positioned in the body of the inspection object and is in a balanced state to perform relative movement.
3. The multiple degree of freedom magnetic field manipulation device of claim 1, wherein the control means further comprises:
and the rotating assembly is arranged on the displacement assembly, and the displacement assembly is used for moving the rotating assembly so as to control the magnetic field generating device to translate in a balanced state and draw the in-vivo micro robot in the balanced state to translate in multiple degrees of freedom.
4. The multi-degree-of-freedom magnetic field manipulation device of claim 2, wherein the rotating assembly comprises a support frame, a first ring, a second ring and a third ring, wherein a side wall of the first ring is rotatably connected with the support frame, and a first rotating shaft of the first ring penetrates through an inner side wall of the first ring; the second annular piece is positioned in the first annular piece, the side wall of the second annular piece is rotationally connected with the side wall of the first annular piece, and the second rotating shaft of the second annular piece penetrates through the inner side wall of the second annular piece; the third ring-shaped piece is positioned in the first ring-shaped piece and arranged on the second ring-shaped piece, and the third ring-shaped piece can rotate in the circumferential direction; the magnetic field generating device is arranged on the third annular piece.
5. The multiple degree of freedom magnetic field manipulation device of claim 4, wherein the first axis of rotation, the second axis of rotation, and a third axis of rotation of the third ring are perpendicular to each other.
6. The multiple degree of freedom magnetic field manipulation apparatus of claim 3 wherein the displacement assembly comprises a lift mechanism for driving the first moveable arm to move in a first predetermined direction, a first moveable arm and a second moveable arm rotationally coupled to the first moveable arm; the rotating assembly comprises a second annular piece and a third annular piece, the third annular piece is arranged on the second annular piece and can rotate circumferentially, the magnetic field generating device is arranged on the third annular piece, the side wall of the second annular piece is rotatably connected with the second moving arm, and a second rotating shaft of the second annular piece penetrates through the inner side wall of the second annular piece during rotation; the second moving arm is used for driving the second annular member to move along a preset plane.
7. The multiple degree of freedom magnetic field manipulation apparatus of claim 2 wherein the bearing assembly comprises a base, a lift member, a support table, and a support plate, opposite ends of the lift member being coupled to the base and the support table, respectively, the support plate being mounted on the support table, the lift member being movable in a first direction relative to the base, the lift member being configured to lift the support table in a second direction, the support plate being movable in a third direction relative to the support table, the support plate being configured to bear the examination object, wherein the first direction, the second direction, and the third direction are perpendicular to each other.
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| CN202123048746.4U CN216562655U (en) | 2021-12-06 | 2021-12-06 | Multi-degree-of-freedom magnetic field control device |
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| CN202123048746.4U CN216562655U (en) | 2021-12-06 | 2021-12-06 | Multi-degree-of-freedom magnetic field control device |
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