Design and Real-Time Optimization for a Magnetic Actuation System With Enhanced Flexibility

Du, Xingzhou; Zhang, Moqiu; Yu, Jiangfan; Yang, Lidong; Chiu, Philip Wai Yan; Zhang, Li

doi:10.1109/tmech.2020.3023003

Cited by 40 publications

(20 citation statements)

References 42 publications

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“…We reconfigure the angle (φ ∈ S) of the spherical motion and the current (I ∈ R) inside the mobile electromagnet to modify the predicted trajectory of the capsule such that it reaches the target. actuation [5], [7], [24]. This assumption has been verified by analyzing the experimental data from Fig.…”

Section: A Null-space Targeting Approachmentioning

confidence: 65%

A Flexible Catheter System for Ultrasound-Guided Magnetic Projectile Delivery

et al. 2022

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Magnetic actuation is a versatile technology, widely applied in medical robotics for noncontact steering of flexible instruments and untethered agents. In this article, we exploit the benefits of this technology by developing a magnetically actuated flexible catheter capable of the controlled ejection and retrieval of an untethered magnetic capsule. The catheter is actuated by the advanced robotics for magnetic manipulation system. The scanning ultrasound is used for 3-D shape reconstruction of the catheter, with a mean error of 0.37 mm. We use a closed-loop position controller to steer the catheter, reporting a mean error of 0.82 mm. We develop a dynamic model of the capsule and use it to predict the trajectory of the projectile. We demonstrate the targeting of the capsule utilizing the null-space of the catheter actuation (mean residual tip displacement of 0.8 mm). Finally, we perform a delivery of a capsule to and retrieval from a target inaccessible for the catheter tip, demonstrating the capability of our instrument to reach challenging locations.

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Section: A Null-space Targeting Approachmentioning

confidence: 65%

A Flexible Catheter System for Ultrasound-Guided Magnetic Projectile Delivery

et al. 2022

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“…Second, future applications can depend on the development of magnetic control system. The scaling issue, which includes not only the miniaturization of the electromagnetic control system, but also the accuracy of the magnetic control, should be addressed [165][166][167]. Third, an imaging system that can prepare feedback on the position and state of the microactuators is a must, and it should preferably be integrated into a miniaturized system, especially considering those tasks performed in vivo [159,[168][169][170][171].…”

Section: Prospective Actuation Methods For 3d Microactuatorsmentioning

confidence: 99%

Tethered and Untethered 3D Microactuators Fabricated by Two-Photon Polymerization: A Review

et al. 2021

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Microactuators, which can transform external stimuli into mechanical motion at microscale, have attracted extensive attention because they can be used to construct microelectromechanical systems (MEMS) and/or microrobots, resulting in extensive applications in a large number of fields such as noninvasive surgery, targeted delivery, and biomedical machines. In contrast to classical 2D MEMS devices, 3D microactuators provide a new platform for the research of stimuli-responsive functional devices. However, traditional planar processing techniques based on photolithography are inadequate in the construction of 3D microstructures. To solve this issue, researchers have proposed many strategies, among which 3D laser printing is becoming a prospective technique to create smart devices at the microscale because of its versatility, adjustability, and flexibility. Here, we review the recent progress in stimulus-responsive 3D microactuators fabricated with 3D laser printing depending on different stimuli. Then, an outlook of the design, fabrication, control, and applications of 3D laser-printed microactuators is propounded with the goal of providing a reference for related research.

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“…A typical setup platform for monitoring and actuating magnetically driven micro- and nanorobots consists of a sample stage, an optical microscope (eventually, coupled with a high-resolution camera), a magnetic manipulation system, and a computer system with video capture and analysis (Figure A). The magnetic manipulation system consists of a set of either permanent magnets or electromagnets − as the source of the magnetic field. Recent contributions ,, provide a systematic review of configurations of magnetic manipulation systems that can be applied to magnetic small-scale robots with sizes ranging from nanometers to millimeters.…”

Section: Interations Between Micro/nanorobots and Magnetic Fieldsmentioning

confidence: 99%

Magnetically Driven Micro and Nanorobots

et al. 2021

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Manipulation and navigation of micro and nanoswimmers in different fluid environments can be achieved by chemicals, external fields, or even motile cells. Many researchers have selected magnetic fields as the active external actuation source based on the advantageous features of this actuation strategy such as remote and spatiotemporal control, fuel-free, high degree of reconfigurability, programmability, recyclability, and versatility. This review introduces fundamental concepts and advantages of magnetic micro/nanorobots (termed here as “MagRobots”) as well as basic knowledge of magnetic fields and magnetic materials, setups for magnetic manipulation, magnetic field configurations, and symmetry-breaking strategies for effective movement. These concepts are discussed to describe the interactions between micro/nanorobots and magnetic fields. Actuation mechanisms of flagella-inspired MagRobots (i.e., corkscrew-like motion and traveling-wave locomotion/ciliary stroke motion) and surface walkers (i.e., surface-assisted motion), applications of magnetic fields in other propulsion approaches, and magnetic stimulation of micro/nanorobots beyond motion are provided followed by fabrication techniques for (quasi-)spherical, helical, flexible, wire-like, and biohybrid MagRobots. Applications of MagRobots in targeted drug/gene delivery, cell manipulation, minimally invasive surgery, biopsy, biofilm disruption/eradication, imaging-guided delivery/therapy/surgery, pollution removal for environmental remediation, and (bio)sensing are also reviewed. Finally, current challenges and future perspectives for the development of magnetically powered miniaturized motors are discussed.

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Design and Real-Time Optimization for a Magnetic Actuation System With Enhanced Flexibility

Cited by 40 publications

References 42 publications

A Flexible Catheter System for Ultrasound-Guided Magnetic Projectile Delivery

A Flexible Catheter System for Ultrasound-Guided Magnetic Projectile Delivery

Tethered and Untethered 3D Microactuators Fabricated by Two-Photon Polymerization: A Review

Magnetically Driven Micro and Nanorobots

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