If you want move in 2D ( X-Y ) check my stepper motor compatible flexible 2.5d actuator
Hackaday article about this project circular-linear-motor-becomes-a-micro-motor-raceway
Hackster article about this project ant-highway-is-like-an-exposed-stepper-motor-for-micro-cars
Article in Russian language https://habr.com/en/post/451180/
I am not using IDL motors patent, I have different coils !
Thanks PCBway for support with board manufacturing ! https://www.pcbway.com/