Magnetic Methods in Robotics

Abbott, Jake J.; Diller, Eric; Petruska, Andrew J.

doi:10.1146/annurev-control-081219-082713

Cited by 245 publications

(178 citation statements)

References 143 publications

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“…The dipole approximation is also appropriate for nonspherical magnets when the operating distance exceeds two side lengths . This approximation may lose efficacy when the miniature robot is actuated at a short range, in which case other field computation methods need to be considered, such as finite element analysis (FEA) and multipole expansions …”

Section: Magnetic Actuation and Magnetic Fieldsmentioning

confidence: 99%

Magnetic Actuation Systems for Miniature Robots: A Review

Yang

Zhang

2020

Advanced Intelligent Systems

242

122

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A magnetic field, which is transparent and relatively safe to biological tissue, is a powerful tool for remote actuation and wireless control of magnetic devices. Furthermore, miniature robots can access complex and narrow regions of the human body as well as manipulate down to subcellular entities; however, integrating onboard components is difficult due to their limited size. Combining these two technologies, magnetic miniature robots have undergone rapid development during the past two decades, mainly because of their high potential in medical and bioengineering applications. To improve the scientific and clinical outcomes of these tiny agents, developing suitable and reliable actuation systems is essential. As a newly emerging field that has progressed in recent years, magnetic actuation systems offer a harmless and effective approach for the remote control of miniature robots via a dynamic magnetic field. Herein, a review on the state‐of‐the‐art magnetic actuation systems for miniature robots is presented with the goal of providing readers with a better understanding of magnetic actuation and guidance for future system design.

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Section: Magnetic Actuation and Magnetic Fieldsmentioning

confidence: 99%

Magnetic Actuation Systems for Miniature Robots: A Review

Yang

Zhang

2020

Advanced Intelligent Systems

242

122

View full text Add to dashboard Cite

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“…As a result the magnetic agent will experience a torque that tends to rotate the agent into alignment with the field, and a force that pulls the agent according to the shape of the magnetic field. The magnetic force can be expressed linearly with respect to m (Abbott et al, 2020):…”

Section: Force and Torque On A Magnetic Agentmentioning

confidence: 99%

“…Given that there can be no stable magnetic equilibrium point in a static magnetic field based on Earnshaw's theorem, it can be concluded that any system designed to manipulate untethered levitating magnetic agents must use feedback control to stabilize the position of the agents (Abbott et al, 2020). The main contribution of this article is that it discovers the effect of magnetic inter-agent forces on 3D motion of multiple magnetic microrobots while manipulated by an underactuated system, based on which controllers are synthesized and validated to independently regulate the position of both types of particle and functional microrobots.…”

Section: Introductionmentioning

confidence: 99%

Three-dimensional independent control of multiple magnetic microrobots via inter-agent forces

Salehizadeh

Diller

2020

The International Journal of Robotics Research

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This article presents a method to independently control the position of multiple microscale magnetic robots in three dimensions, operating in close proximity to each other. Having multiple magnetic microrobots work together in close proximity is difficult due to magnetic interactions between the robots, and here we aim to control those interactions for the creation of desired multi-agent formations in three dimensions. Based on the fact that all magnetic agents orient to the global input magnetic field, the local attraction–repulsion forces between nearby agents can be regulated. For the first time, 3D manipulation of two microgripping magnetic microrobots is demonstrated. We also mathematically and experimentally prove that the center-of-mass external magnetic pulling of the multi-agent system is possible in three dimensions with an underactuated magnetic field generator. Here we utilize the controlled interaction magnetic forces between two spherical agents to steer them along two prescribed paths. We apply our method to independently control the motion of a pair of magnetic microgrippers as functional microrobot candidates each equipped with a five-degree-of-freedom motion mechanism and a grasp–release mechanism for targeted cargo delivery. A proportional controller and an optimization-based controller are introduced and compared, with potential to control more than two magnetic agents in three dimensions. Average tracking errors of less than 141 and 165 micrometers are accomplished for the regulation of agents’ positions using optimization-based and proportional controllers, respectively, for spherical agents with approximate nominal radius of 500 micrometers operating within several body-lengths of each other.

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“…Moreover, the complexity of internally actuated mechanisms results in cumbersome design and prevents a substantial cost reduction. Magnetically actuated endoscopes [16][17][18][19][20] have demonstrated the potential to reduce pain, reduce cost, enhance diagnostic capabilities 21 and improve therapeutic interventions. Although promising, translating magnetically actuated endoscopes for clinical use has failed due to control challenges.…”

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confidence: 99%

Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation

et al. 2020

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Early diagnosis of colorectal cancer substantially improves survival. However, over half of cases are diagnosed late due to the demand for colonoscopy-the 'gold standard' for screening-exceeding capacity. Colonoscopy is limited by the outdated design of conventional endoscopes, which are associated with high complexity of use, cost and pain. Magnetic endoscopes are a promising alternative and overcome the drawbacks of pain and cost, but they struggle to reach the translational stage as magnetic manipulation is complex and unintuitive. In this work, we use machine vision to develop intelligent and autonomous control of a magnetic endoscope, enabling non-expert users to effectively perform magnetic colonoscopy in vivo. We combine the use of robotics, computer vision and advanced control to offer an intuitive and effective endoscopic system. Moreover, we define the characteristics required to achieve autonomy in robotic endoscopy. The paradigm described here can be adopted in a variety of applications where navigation in unstructured environments is required, such as catheters, pancreatic endoscopy, bronchoscopy and gastroscopy. This work brings alternative endoscopic technologies closer to the translational stage, increasing the availability of early-stage cancer treatments.

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Magnetic Methods in Robotics

Cited by 245 publications

References 143 publications

Magnetic Actuation Systems for Miniature Robots: A Review

Magnetic Actuation Systems for Miniature Robots: A Review

Three-dimensional independent control of multiple magnetic microrobots via inter-agent forces

Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation

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