Active drug delivery systems for cancer therapy are gaining attention for their biocompatibility and enhanced efficacy compared to conventional chemotherapy and surgery. To improve precision in targeted drug delivery (TDD), actuating devices using external magnetic fields are employed. However, a key challenge is the inability to visually track magnetic drug carriers in blood vessels, complicating navigation to the target. Magnetic particle imaging (MPI) systems can localize magnetic carriers (MCs) but rely on bulky electromagnetic coils to generate a static magnetic field gradient, creating a field-free point (FFP) within the field of view (FOV). Also, additional coils are required to move the FFP across the FOV, limiting flexibility and increasing the system size. To address these issues, we propose a non-FFP-based, open-type RF coil system with a simplified structure composed of a Tx/Rx coil and a permanent magnet at the coil center, eliminating the need for an FFP. Furthermore, integrating a robotic arm for coil assembly enables easy adjustment of the FOV size and location. Finally, imaging tests with magnetic nanoparticles (MNPs) confirmed the system’s ability to detect and localize a minimum mass of 0.3 mg (Fe) in 80 × 80 mm².