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Patent

Controllable magnetic source to fixture intracorporeal apparatus

TLDR
In this paper, a first magnetic field can be produced across a tissue region using a first magnetometer, providing a magnetic coupling force between the first magnetic source and a first object, wherein the first object provides a magnetic field or a magnetic susceptibility to obtain the magnetic coupling forces.
Abstract
A first magnetic field can be produced across a tissue region using a first magnetic field source, providing a magnetic coupling force between the first magnetic field source and a first object, wherein the first object provides a magnetic field or a magnetic susceptibility to obtain the magnetic coupling force. The magnetic coupling force can be sensed using a force sensor and a resulting sensed force signal can be provided to a controller. The controller can provide an output signal to control the magnetic coupling force using the sensed forced signal to obtain a constant or desired magnetic coupling force.

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Citations
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References
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Insertable device and system for minimal access procedure

TL;DR: In this article, a system and single or multi-functional element device that can be inserted and temporarily placed or implanted into a structure having a lumen or hollow space, such as a subject's abdominal cavity to provide therewith access to the site of interest in connection with minimally invasive surgical procedures.
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