<p>In the context of minimally invasive surgical procedures using miniaturized robots (endovascular catheter, endoscopic capsule, etc.), magnetic actuation is a promising solution for non-contact navigation of these tools. In this work, we develop and validate an electromagnetic actuation system that combines the advantages of existing systems, notably in terms of workspace, control and accessibility of the magnetic field. This is an electromagnetic coil with an optimized ferromagnetic core carried by a 7 Degrees of Freedom (DoF) collaborative robotic arm. In addition to the static magnetic field, this system generates a rotating magnetic field. However, this type of actuator requires a high-current power supply and generates undesirable Joule-effect heat. A specialized cooling system was therefore developed to solve the problem of overheating. The design of the electromagnetic actuator and its cooling system were constrained by the desired magnetic performance and ranges, the robot’s capabilities, and temperature evolution. The prototype’s performances in terms of electromagnetism, cooling and magnetic actuation were experimentally validated.</p>