Propulsion and steering of helical magnetic microrobots using two synchronized rotating dipole fields in three-dimensional space

Hosney, Abdelrahman; Klingner, Anke; Misra, Sarthak; Khalil, Islam S. M.

doi:10.1109/iros.2015.7353639

Cited by 31 publications

(16 citation statements)

References 13 publications

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“…The actuating magnetic field itself can be supplied using electromagnetic coils or permanent magnets, but the latter option was incorporated into our system due to space constraints and its simplicity of implementation. Permanent magnets have been used for actuation in a variety of other robotic systems, including helical microrobot platforms [ 47 , 48 , 49 ], a microrobotic system for aligning floating electronic circuits to fibers in a wet transfer process [ 50 ], and a larger system involving magnetic capsule endoscopes [ 51 ]. More recently, point-to-point closed-loop motion control of magnetically driven screws actuated using permanent magnets was demonstrated within an agar gel tissue phantom [ 52 ].…”

Section: Discussionmentioning

confidence: 99%

“…More recently, point-to-point closed-loop motion control of magnetically driven screws actuated using permanent magnets was demonstrated within an agar gel tissue phantom [ 52 ]. For further improving system capabilities, attaching permanent magnet-based systems to robotic arms can increase the available degrees of freedom [ 53 ] and incorporating two synchronized rotating magnets can mitigate the detrimental attractive forces exerted on microrobots by rotating single dipoles [ 48 , 49 ]. Additionally, a permanent magnetic system designed for steering catheters demonstrated that such systems are scalable and capable of delivering 80 mT fields over the space of a human torso [ 54 ].…”

Section: Discussionmentioning

confidence: 99%

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A Tumbling Magnetic Microrobot System for Biomedical Applications

Niedert

Adam

et al. 2020

Micromachines

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A microrobot system comprising an untethered tumbling magnetic microrobot, a two-degree-of-freedom rotating permanent magnet, and an ultrasound imaging system has been developed for in vitro and in vivo biomedical applications. The microrobot tumbles end-over-end in a net forward motion due to applied magnetic torque from the rotating magnet. By turning the rotational axis of the magnet, two-dimensional directional control is possible and the microrobot was steered along various trajectories, including a circular path and P-shaped path. The microrobot is capable of moving over the unstructured terrain within a murine colon in in vitro, in situ, and in vivo conditions, as well as a porcine colon in ex vivo conditions. High-frequency ultrasound imaging allows for real-time determination of the microrobot’s position while it is optically occluded by animal tissue. When coated with a fluorescein payload, the microrobot was shown to release the majority of the payload over a 1-h time period in phosphate-buffered saline. Cytotoxicity tests demonstrated that the microrobot’s constituent materials, SU-8 and polydimethylsiloxane (PDMS), did not show a statistically significant difference in toxicity to murine fibroblasts from the negative control, even when the materials were doped with magnetic neodymium microparticles. The microrobot system’s capabilities make it promising for targeted drug delivery and other in vivo biomedical applications.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

A Tumbling Magnetic Microrobot System for Biomedical Applications

Niedert

Adam

et al. 2020

Micromachines

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“…Not willing to forsake the aforementioned convenience, researchers have been trying to maintain such a direct line-of-sight in as many cases as possible. Many experiments, especially the preliminary ones, of small-scale magnetic robots are performed in air [35][36][37][38], at an interface [39][40][41][42][43][44][45], or in an aqueous medium inside a transparent container, such as a Petri dish, a beaker, or a tube [32,[46][47][48][49][50][51][52][53][54][55]. For example, Tasoglu et al used an untethered magnetic microrobot to code three-dimensional (3D) materials with tunable structural, morphological, and chemical features [26].…”

Section: Conventional Imaging Setup For Small-scale Magnetic Robotsmentioning

confidence: 99%

Evolving from Laboratory Toys towards Life-Savers: Small-Scale Magnetic Robotic Systems with Medical Imaging Modalities

Zhang

2021

Micromachines

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Small-scale magnetic robots are remotely actuated and controlled by an externally applied magnetic field. These robots have a characteristic size ranging from several millimetres down to a few nanometres. They are often untethered in order to access constrained and hard-to-reach space buried deep in human body. Thus, they promise to bring revolutionary improvement to minimally invasive diagnostics and therapeutics. However, existing research is still mostly limited to scenarios in over-simplified laboratory environment with unrealistic working conditions. Further advancement of this field demands researchers to consider complex unstructured biological workspace. In order to deliver its promised potentials, next-generation small-scale magnetic robotic systems need to address the constraints and meet the demands of real-world clinical tasks. In particular, integrating medical imaging modalities into the robotic systems is a critical step in their evolution from laboratory toys towards potential life-savers. This review discusses the recent efforts made in this direction to push small-scale magnetic robots towards genuine biomedical applications. This review examines the accomplishment achieved so far and sheds light on the open challenges. It is hoped that this review can offer a perspective on how next-generation robotic systems can not only effectively integrate medical imaging methods, but also take full advantage of the imaging equipments to enable additional functionalities.

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“…Magnetic system with open-configuration for the control of magnetically-actuated tools [48]. (e) Magnetic system with two rotating dipole fields [49].…”

Section: Magnetic Control and Applicationsmentioning

confidence: 99%

Biologically Inspired Microrobotics

Khalil

Misra

2018

The Encyclopedia of Medical Robotics

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The locomotion of microorganisms in low Reynolds number regimes has inspired engineers to design and fabricate robotic systems at micro-and nanoscales. Here, we review the swimming at low Reynolds number and analyze the kinematic reversibility property and the scallop theorem theoretically and experimentally. First, we present dynamical models for the planar flagellar and helical flagellar swimming of microorganisms. Second, we study the realization of microrobotic systems based on the mentioned locomotion mechanisms at micro-and nano-scales using fabrication based on nano-technology. Finally, the locomotion mechanisms of the biologically-inspired microrobotic systems are experimentally investigated using electromagnetic and magnetic systems.

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Propulsion and steering of helical magnetic microrobots using two synchronized rotating dipole fields in three-dimensional space

Cited by 31 publications

References 13 publications

A Tumbling Magnetic Microrobot System for Biomedical Applications

A Tumbling Magnetic Microrobot System for Biomedical Applications

Evolving from Laboratory Toys towards Life-Savers: Small-Scale Magnetic Robotic Systems with Medical Imaging Modalities

Biologically Inspired Microrobotics

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