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Objective: Computational modeling is increasingly used to design charging systems for implanted medical devices. The design of these systems must often satisfy conflicting requirements, such as charging speed, specific absorption rate (SAR) and coil size. Fast electromagnetic solvers are pivotal for enabling multi-criteria optimization. In this paper, we present an analytical model based on the quasi-static approximation as a fast, yet sufficiently accurate tool for optimizing inductive charging systems. Methods: The approximate model was benchmarked against full-wave simulations to validate accuracy and improvement in computation time. The coupling factor of two test coils was measured for lateral and axial displacements and the SAR was measured experimentally in a PAA phantom. Results: The approximate model takes only 11 seconds to compute a single iteration, while the full-wave model takes 5 hours to compute the same case. The maximum difference with full-wave simulations was less than 24% and the mean difference less than 2%. Adding a novel figure of merit into the multi-criterion optimization resulted in a 16% higher charging speed. The measured results of the SAR and coupling factor are within a 5 mm coil offset margin. Conclusion: The proposed approximate model succeeds as a rapid prototyping tool, enabling fast and sufficiently accurate optimization for wireless charging systems. Significance: The approximate model is the first of its kind to compute both the coupling factor and the SAR near conducting structures fast enough to enable optimization of charging speed. [ABSTRACT FROM AUTHOR]