Magnetic navigation systems are used to precisely manipulate magnetically responsive materials enabling the realization of new minimally invasive procedures using magnetic medical devices. Their widespread applicability has been constrained by high infrastructure demands and costs. The study reports on a portable electromagnetic navigation system, the Navion, which is capable of generating a large magnetic field over a large workspace. The system is easy to install in hospital operating rooms and transportable through health care facilities, aiding in the widespread adoption of magnetically responsive medical devices. First, the design and implementation approach for the system are introduced and its performance is characterized. Next, in vitro navigation of different microrobot structures is demonstrated using magnetic field gradients and rotating magnetic fields. Spherical permanent magnets, electroplated cylindrical microrobots, microparticle swarms, and magnetic composite bacteria-inspired helical structures are investigated. The navigation of magnetic catheters is also demonstrated in two challenging endovascular tasks: 1) an angiography procedure and 2) deep navigation within the circle of Willis. Catheter navigation is demonstrated in a porcine model in vivo to perform an angiography under magnetic guidance.

中文翻译：

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用于磁响应生物材料和医疗设备的人体规模临床就绪电磁导航系统


磁导航系统用于精确操纵磁响应材料，从而能够使用磁性医疗设备实现新的微创手术。它们的广泛适用性受到高基础设施需求和成本的限制。该研究报告了一种便携式电磁导航系统 Navion，它能够在大工作空间内产生大磁场。该系统易于安装在医院手术室中，并且可在医疗保健机构中运输，有助于磁响应医疗设备的广泛采用。首先介绍了系统的设计和实现方法，并对其性能进行了表征。接下来，使用磁场梯度和旋转磁场演示不同微型机器人结构的体外导航。研究了球形永磁体、电镀圆柱形微型机器人、微粒群和磁性复合细菌启发的螺旋结构。磁导管的导航也在两项具有挑战性的血管内任务中得到了证明：1) 血管造影手术和 2) Willis 环内的深度导航。在猪体内模型中演示了导管导航，可在磁引导下进行血管造影。