Two-Dimensional Contact and Noncontact Micromanipulation in Liquid Using an Untethered Mobile Magnetic Microrobot

Floyd, Steven; Pawashe, Chytra; Sitti, Metin

doi:10.1109/tro.2009.2028761

Cited by 157 publications

(96 citation statements)

References 23 publications

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“…Since by definition F |K = F , system (15)- (16) or (15)- (18) coupled with (21) gives: e = LHue + FL(X,Ẑ,θ, u) − FL(X, Z,θ, u), (A. 36) with Hu given by (22), and mapping FL = (0, 1 L 2 F ).…”

Section: Discussionmentioning

confidence: 99%

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Adaptive Controller and Observer for a Magnetic Microrobot

2013

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Abstract-The present paper discusses the control design of a magnetically-guided microrobotic system in blood vessels to perform minimally invasive medical procedures. Such microrobots consist of a polymer binded aggregate of nanosized ferromagnetic particles and a possible payload that can be propelled by the gradient coils of a magnetic device. A fine modeling is developed and used to define an optimal trajectory which minimizes the control efforts. We then synthesize an adaptive backstepping law that ensures a Lyapunov stable and fine tracking despite modeling errors and estimates some key uncertain parameters. As the controller synthesis uses the microrobot unmeasured velocity, the design of a high gain observer is also addressed. Simulations and experiment illustrate the robustness to both noise measurement and some uncertain physiological parameters for a 250µm radius microrobot navigating in a fluidic environment.Index Terms-Magnetic microrobot, nonlinear modeling, adaptive backstepping, high gain observer, noise and parametric uncertainties.

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Section: Discussionmentioning

confidence: 99%

“…Second, magnetotactic bacteria actuated thanks to embedded ferromagnetic magnetosomes has been demonstrated [13]. Finally, bead pulling is investigated using either experimental setups [10], [14], [15], [16] or magnetic resonance imaging devices [17].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Controller and Observer for a Magnetic Microrobot

2013

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“…They are composed of coils used to control the position of a ferromagnetic or diamagnetic particle by setting the current on each coil [3], [6], [7], [9]. The analysis proposed in this paper will be illustrated on the Magpier magnetic driving platform (Erreur !…”

Section: Magpier Magnetic Microrobot Platformmentioning

confidence: 99%

“…In recent years, several magnetic microrobots and corresponding driving setups have been developed [5]. Mag-μBot was developed in Carnegie Mellon University, and it is driven by three pairs of coils [6].…”

Section: Introductionmentioning

confidence: 99%

Simulation and experiments on magnetic microforces for magnetic microrobots applications

Wang

Dkhil

Bolopion

et al. 2013

2013 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale

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Abstract-Magnetic microrobots have a wide variety of applications in micro/nano-manipulation, micro/nano sensing and biomedical fields. Untethered magnetic microrobots are usually driven by a group of electromagnetic coils. To control the magnetic microrobots trajectory, it is of utmost importance to know the magnitude of the magnetic force applied on them. In this paper finite element simulations are proposed to derive the magnetic field produced by an iron core coil. A three dimensional static magnetic analysis is also performed to simulate the magnetic force applied on a magnetic microrobot. The simulation results are validated by experimental measurements. A teslameter is used to measure the magnetic field on the central axis of the coil. A magnetic microrobot (less than 400 x 400 µm 2 ) is fabricated and glued to a force sensor to measure the magnetic force applied on it. The measurement results are in good agreement with the simulation and show the effectiveness of the magnetic simulation.

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“…Recently, magnetic microrobots have received a lot of attention since they are able to provide large motion forces and move in liquid environments with very low (less than one) Reynolds number environment (i.e., the ratio of inertial force to viscous force). Magnetic propulsion and steering for ferromagnetic microparticles, also has been employed [4] in which the magnetic force and torque of a microrobot were induced independently by Maxwell and Helmhotz coil fields [5], [6]. Magnetic helical medical microrobots, inspired by the propulsion of bacterial flagella, are promising for use in open fluids for destroying kidney stones in real human body [4], or for surgery in ophtalmic procedures [7], [8].…”

Section: Introductionmentioning

confidence: 99%

Control of a magnetic microrobot navigating in microfluidic arterial bifurcations through pulsatile and viscous flow

Belharet

Folio

Ferreira

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Navigating in bodily fluids to perform targeted diagnosis and therapy has recently raised the problem of robust control of magnetic microrobots under real endovascular conditions. Various control approaches have been proposed in the literature but few of them have been experimentally validated. In this paper, we point out the problem of navigation controllability of magnetic microrobots in high viscous fluids and under pulsatile flow for endovascular applications. We consider the experimental navigation along a desired trajectory, in a simplified millimeter-sized arterial bifurcation, operating in fluids at the low-Reynolds-number regime where viscous drag significantly dominates over inertia. Different viscosity environments are tested under a systolic pulsatile flow compatible with heart beating. The control performances in terms tracking, robustness and stability are then experimentally demonstrated.

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Two-Dimensional Contact and Noncontact Micromanipulation in Liquid Using an Untethered Mobile Magnetic Microrobot

Cited by 157 publications

References 23 publications

Adaptive Controller and Observer for a Magnetic Microrobot

Adaptive Controller and Observer for a Magnetic Microrobot

Simulation and experiments on magnetic microforces for magnetic microrobots applications

Control of a magnetic microrobot navigating in microfluidic arterial bifurcations through pulsatile and viscous flow

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