A 5-D Large-Workspace Magnetic Localization and Actuation System Based on an Eye-in-Hand Magnetic Sensor Array and Mobile Coils

Zhang, Moqiu; Yang, Lidong; Zhang, Chong; Yang, Zhengxin; Zhang, Zifeng

doi:10.1109/tim.2023.3238693

Cited by 10 publications

(10 citation statements)

References 42 publications

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“…The disadvantage is that the working space of the electromagnetic system is certain and cannot be moved. However, ( Yang Z. X. et al, 2020b ; Du et al, 2022 ; Zhang et al, 2023 ), combined an electromagnetic system with a robotic arm to increase the working space. When an electromagnetic system works for a long time, it will produce a high temperature and thus may damage the system equipment.…”

Section: Control System Of Magnetic Medical Microrobotsmentioning

confidence: 99%

System integration of magnetic medical microrobots: from design to control

Zhou,

Li,

et al. 2023

Front. Robot. AI

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Magnetic microrobots are ideal for medical applications owing to their deep tissue penetration, precise control, and flexible movement. After decades of development, various magnetic microrobots have been used to achieve medical functions such as targeted delivery, cell manipulation, and minimally invasive surgery. This review introduces the research status and latest progress in the design and control systems of magnetic medical microrobots from a system integration perspective and summarizes the advantages and limitations of the research to provide a reference for developers. Finally, the future development direction of magnetic medical microrobot design and control systems are discussed.

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Section: Control System Of Magnetic Medical Microrobotsmentioning

confidence: 99%

System integration of magnetic medical microrobots: from design to control

Zhou,

Li,

et al. 2023

Front. Robot. AI

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“…Current treatments for vascular diseases, including drug therapy, vascular bypass graft, and carotid angioplasty, have adverse effects such as invasiveness, and potential complications [2], [3], [4], [5]. To overcome the limitations of current treatments for vascular diseases, innovative devices such as untethered small-scale helical devices (USHDs) have been developed [6], [7], [8]. These miniature devices have potential impact in targeted and minimally invasive interventions, enabling precise navigation through intricate vascular networks and providing more effective and safer treatment than traditional methods [9], [10].…”

Section: Introductionmentioning

confidence: 99%

Navigation of Untethered Small-Scale Helical Devices Using Magnetic System Under Ultrasound Guidance

Li,

Misra,

Khalil

2023

IEEE Trans. Med. Robot. Bionics

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Magnetic actuation of untethered small-scale helical devices (USHDs) shows great potential for targeted drug delivery or as minimally invasive surgical tools in the human body. However, ensuring the success of therapeutic interventions in anatomically challenging regions, such as neck vascular networks with winding pathways and branching, demands the incorporation of precise image feedback and a robust control method. How to construct a control method with precise navigation ability in complex and hard-to-reach body districts is still a challenging work. In this paper, we propose a closed-loop control strategy for the USHD based on a permanent-magnet robotic (PMR) system inside a three-dimensional (3-D) vascular model with blood. First, the 3-D vascular model is reconstructed using 2-D ultrasound images. Second, the point-to-point closed-loop control of the USHD is performed under ultrasound guidance, and the control input is obtained to act on both the PMR system and the ultrasound system. Next, the USHD navigates the different pathways of the 3-D vascular model under the proposed control strategy. Finally, our in vitro experimental results indicate that the maximum mean absolute position error between the target point of each branch and the actual position reached by the USHD (length and diameter of 6 mm and 1.5 mm, respectively) is 6.4±3.8 mm and 4.2±2.8 mm when the blood flow rate is 16.6 mL/min, which corresponds to 28% of the maximum venous flow rate.

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“…For several decades, developments in technology have converted small-scale machines from science fiction elements to real-world practices. The small vessels navigating in living bodies [1,2,3] and fully functional nano and microscale electromechanical systems [4,5,6] have been reported for exploiting the technology for further use by mankind. An important requirement for proper operation of micromachines for active sensing and actuation is power transfer.…”

Section: Introductionmentioning

confidence: 99%

Comparison of PCB Based Actuator Coils for Untethered Actuation

Akkus,

Çetin

2023

IJRCS

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Recently magnetic actuation has become a versatile tool for manipulation on both the micro and macro scale. Due to the problems arising from scale, conventional electromagnet production methods are insufficient to produce the desired electromagnets to be used for this purpose. To solve the problems arising from this situation, researchers have been forced to work in alternative electromagnet production and application areas and paved the way for PCB-based electromagnetic actuators. For this reason, this article will explain the design principles of PCB planar coils for electromagnetic actuator applications and will provide the basis for later studies to create a coil matrix using this coil design and an actuator that can move ferromagnetic particles or magnets in the plane with this 2D coil matrix. The presented project design steps can be listed as follows; First of all, to be able to design a coil that consists of copper paths on the PCB and can meet expectations (homogeneous magnetic field, high magnetic force/current ratio). PCB coils consisting of square, circular and hexagonal coils are manufactured and various measurements are made. The measured results are consistent with the simulated results proving the accuracy and applicability of PCB coil actuators, and they are highly suitable for a new actuator version. In the tests carried out, coils energized with 1A can provide a maximum field strength of 1400 (A/m) and an average of 900 (A/m) and due to the lack of magnetic core, the created magnetic field has the shape of a bell. In order to overcome this situation, it is foreseen that making studies to increase the working current and, as a more important development, switching from the planar single-layer structure to the structure of two or more layers can increase the magnetic field produced by this type of coils, but this layer increase should take into account the cost and PCB production and application capabilities. should be made available.

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A 5-D Large-Workspace Magnetic Localization and Actuation System Based on an Eye-in-Hand Magnetic Sensor Array and Mobile Coils

Cited by 10 publications

References 42 publications

System integration of magnetic medical microrobots: from design to control

System integration of magnetic medical microrobots: from design to control

Navigation of Untethered Small-Scale Helical Devices Using Magnetic System Under Ultrasound Guidance

Comparison of PCB Based Actuator Coils for Untethered Actuation

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