Abstract Magnetic-based approaches are highly promising to provide innovative solutions for the design of medical devices for diagnostic and therapeutic procedures, such as in the endoluminal districts. Due to the intrinsic magnetic properties (no current needed) and the high strength-to-size ratio compared with electromagnetic solutions, permanent magnets are usually embedded in medical devices. In this paper, a set of analytical formulas have been derived to model the magnetic forces and torques which are exerted by an arbitrary external magnetic field on a permanent magnetic source embedded in a medical robot. In particular, the authors modelled cylindrical permanent magnets as general solution often used and embedded in magnetically-driven medical devices. The analytical model can be applied to axially and diametrically magnetized, solid and annular cylindrical permanent magnets in the absence of the severe calculation complexity. Using a cylindrical permanent magnet as a selected solution, the model has been applied to a robotic endoscopic capsule as a pilot study in the design of magnetically-driven robots.

中文翻译：

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磁驱动医疗机器人：用于内窥镜胶囊设计的分析磁模型

摘要 基于磁性的方法非常有希望为诊断和治疗程序的医疗设备设计提供创新解决方案，例如在腔内区域。由于固有的磁性（不需要电流）和与电磁解决方案相比的高强度尺寸比，永磁体通常嵌入医疗设备中。在本文中，已经推导出了一组解析公式来模拟由任意外部磁场施加在医疗机器人中嵌入的永磁源上的磁力和扭矩。特别是，作者将圆柱形永磁体建模为通常使用并嵌入磁驱动医疗设备中的通用解决方案。分析模型可应用于轴向和径向磁化，在没有严重的计算复杂性的情况下，可以使用实心和环形圆柱形永磁体。使用圆柱形永磁体作为选定的解决方案，该模型已应用于机器人内窥镜胶囊，作为磁驱动机器人设计的试点研究。