Magnetic propulsion of a magnetic device using three square-Helmholtz coils and a square-Maxwell coil.

We introduce a square coil system for remote magnetic navigation of a magnetic device without any physical movements of the coils. We used three square-Helmholtz coils and a square-Maxwell coil for magnetic propulsion of a small magnet along the desired path. All the square coils are mountable on a cubic frame that has an opening to accommodate a living subject. The square-Helmholtz coils control the magnetic propulsion direction by generating uniform magnetic field along the desired direction while the square-Maxwell coil controls the propulsion force by generating magnetic gradient field. We performed magnetic propulsion experiments with a downscaled coil set and a three-channel coil driver. Experimental results demonstrate that we can use the square coil set for magnetic navigation of a magnetic device without any physical movements of the coils.