Steering a Ferromagnetic Particle by Optimal Magnetic Feedback Control

Komaee, Arash; Shapiro, Benjamin

doi:10.1109/tcst.2011.2152842

Cited by 36 publications

(18 citation statements)

References 19 publications

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“…Because m is not always sensed, it is more convenient to linearize the system by specifying the desired field (which maps to a desired dipole moment) and the desired force, as in [13], [18], [21] …”

Section: Magnetic Manipulation Backgroundmentioning

confidence: 99%

“…In many cases, such as the manipulation of beads and ferrofluid droplets [12], [13], only the forces acting on the object are specified and the object's dipole-moment direction is free to change as necessary. To realize force control with only three electromagnets that is robust to orientation disturbances, it is necessary to either constrain the object's dipole moment or to design the system to be capable of generating the necessary gradients when the object is aligned with the field as in [16].…”

Section: A Force-based Position Controlmentioning

confidence: 99%

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Minimum Bounds on the Number of Electromagnets Required for Remote Magnetic Manipulation

2015

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Numerous magnetic-manipulation systems have been developed to control objects in relatively large workspaces. These systems vary in their number of electromagnets, their configuration, and their limitations. To date, no attempt has been made to rigorously quantify how many electromagnets are required to perform a given magnetic manipulation task. For some tasks, such as controlling the field at a point, the answer is clear: the same number as dimension of control. For tasks that apply magnetic forces on an object, the answer is less clear, and some systems, which have more control magnets than kinematic degrees of freedom (DOFs), have demonstrated unexpected singularities that only arise at specific object orientations. This paper provides a general analysis for static electromagnetic systems rooted in the governing magnetic equations and proves an unintuitive result. That is, if only magnetic fields and forces are used to control an unconstrained magnetic object, four magnetic sources are required for 3-DOF force control and eight magnetic sources are required for orientation-independent 5-DOF force and heading control.Index Terms-Magnetic manipulation, mechanism design, medical robots and systems, micro/nano robots. 1552-3098

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Section: Magnetic Manipulation Backgroundmentioning

confidence: 99%

Section: A Force-based Position Controlmentioning

confidence: 99%

Minimum Bounds on the Number of Electromagnets Required for Remote Magnetic Manipulation

2015

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“…magnetization directions. An optimized feedback control system was proposed by Komaee and Shapiro for an array of electromagnets (four cylindrical and axially focused) with adjustable voltages for steering a ferromagnetic particle in a viscous fluid [72]. The model assumes that the position vector (feedback) is accurately measured (e.g., a high-resolution camera).…”

Section: Gastrointestinalmentioning

confidence: 99%

Magnetically driven medical devices: a review

Sliker

Ciuti

Rentschler

et al. 2015

Expert Review of Medical Devices

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A widely accepted definition of a medical device is an instrument or apparatus that is used to diagnose, prevent or treat disease. Medical devices take a broad range of forms and utilize various methods to operate, such as physical, mechanical or thermal. Of particular interest in this paper are the medical devices that utilize magnetic field sources to operate. The exploitation of magnetic fields to operate or drive medical devices has become increasingly popular due to interesting characteristics of magnetic fields that are not offered by other phenomena, such as mechanical contact, hydrodynamics and thermodynamics. Today, there is a wide range of magnetically driven medical devices purposed for different anatomical regions of the body. A review of these devices is presented and organized into two groups: permanent magnetically driven devices and electromagnetically driven devices. Within each category, the discussion will be further segregated into anatomical regions (e.g., gastrointestinal, ocular, abdominal, thoracic, etc.).

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“…For the feedback control in targeted drug delivery, most of the studies focus on a micro size single particle control in vitro and in vivo [ 12 , 13 , 14 ]. However, precise steering of several nanoparticles has more difficulties than that of a single particle due to their dispersions during manipulation.…”

Section: Introductionmentioning

confidence: 99%

Haptic-Based Manipulation Scheme of Magnetic Nanoparticles in a Multi-Branch Blood Vessel for Targeted Drug Delivery

Hamdipoor

Afzal

et al. 2018

Micromachines

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Magnetic drug targeting is a promising technique that can deliver drugs to the diseased region, while keeping the drug away from healthy parts of body. Introducing a human in the control loop of a targeted drug delivery system and using inherent bilateralism of a haptic device at the same time can considerably improve the performance of targeted drug delivery systems. In this paper, we suggest a novel intelligent haptic guidance scheme for steering a number of magnetic nanoparticles (MNPs) using forbidden region virtual fixtures and a haptic rendering scheme with multi particles. Forbidden region virtual fixtures are a general class of guidance modes implemented in software, which help a human-machine collaborative system accomplish a specific task by constraining a movement into limited regions. To examine the effectiveness of our proposed scheme, we implemented a magnetic guided drug delivery system in a virtual environment using a physics-based model of targeted drug delivery including a multi-branch blood vessel and realistic blood dynamics. We performed user studies with different guidance modes: unguided, semi virtual fixture and full virtual fixture modes. We found out that the efficiency of targeting was significantly improved using the forbidden region virtual fixture and the proposed haptic rendering of MNPs. We can expect that using intelligent haptic feedback in real targeted drug delivery systems can improve the targeting efficiency of MNPs in multi-branch vessels.

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Steering a Ferromagnetic Particle by Optimal Magnetic Feedback Control

Cited by 36 publications

References 19 publications

Minimum Bounds on the Number of Electromagnets Required for Remote Magnetic Manipulation

Minimum Bounds on the Number of Electromagnets Required for Remote Magnetic Manipulation

Magnetically driven medical devices: a review

Haptic-Based Manipulation Scheme of Magnetic Nanoparticles in a Multi-Branch Blood Vessel for Targeted Drug Delivery

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