Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets

Pittiglio, Giovanni; Brockdorff, Michael; Veiga, Tomás da; Davy, Joshua; Chandler, James H.; Valdastri, Pietro

doi:10.1109/tro.2022.3209038

Cited by 24 publications

(30 citation statements)

References 30 publications

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“…The dual EPM platform (dEPM) was used [4], [32], consisting on two KUKA LBR iiwa14 robots (KUKA, Germany), each manipulating one EPM (cylindrical permanent magnet with diameter and lenght of 101.6 mm and axial magnetization of 970.1 Am 2 (Grade N52)) (see Fig. 6).…”

Section: Methodsmentioning

confidence: 99%

“…Magnetically actuated medical robots (MAMR) have seen significant focus and development in recent decades due to their potential for miniaturization [1], tether-less actuation [2] and high number of controllable degrees-of-freedom (DOFs) [3], [4]. In fact, magnetically guided catheters have been used to treat cardiac arrhythmias since 2003 [5], [6].…”

Section: Introductionmentioning

confidence: 99%

“…Over recent years the need for enhanced control and manipulability of MAMRs has led to the advent of actuation platforms based on multiple magnetic field sources (MMFS) such as multiple electromagnetic coils and multiple permanent magnets [4], [20]- [24]. Some of these platforms have been cleared for human use such as Stereotaxis Genesis RMN ® based on two permanent magnets, and Magnetecs and Aeon Scientific based on multiple electromagnetic coils.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Six-Degree-of-Freedom Localization Under Multiple Permanent Magnets Actuation

Veiga

Pittiglio

Brockdorff

et al. 2023

IEEE Robot. Autom. Lett.

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Localization of magnetically actuated medical robots is essential for accurate actuation, closed loop control and delivery of functionality. Despite extensive progress in the use of magnetic field and inertial measurements for pose estimation, these have been either under single external permanent magnet actuation or coil systems. With the advent of new magnetic actuation systems comprised of multiple external permanent magnets for increased control and manipulability, new localization techniques are necessary to account for and leverage the additional magnetic field sources. In this letter, we introduce a novel magnetic localization technique in the Special Euclidean Group SE(3) for multiple external permanent magnetic field actuation and control systems. The method relies on a milli-meter scale three-dimensional accelerometer and a three-dimensional magnetic field sensor and is able to estimate the full 6 degree-of-freedom pose without any prior pose information. We demonstrated the localization system with two external permanent magnets and achieved localization errors of 8.5 ± 2.4 mm in position norm and 3.7 ± 3.6 • in orientation, across a cubic workspace with 20 cm length.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Six-Degree-of-Freedom Localization Under Multiple Permanent Magnets Actuation

Veiga

Pittiglio

Brockdorff

et al. 2023

IEEE Robot. Autom. Lett.

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“…[91][92][93] Recently, a dual-arm robotic platform has been proposed, realizing control with a maximum of 8 DOF through collaborative magnetic manipulation, which is up to 5 DOF in the previous single permanent magnet system (Figure 5b). [94,95] For most electromagnet-based platforms, the magnetic field at the working point is decided by powering different currents into the paired coils or distributed electromagnets. Examples of paired coils include the Helmholtz coil pair, Maxwell coil pair, uniform saddle coil pair, gradient saddle coil pair, Golay coil pair, and their combinations.…”

Section: Platform With Flexible Field Generationmentioning

confidence: 99%

Magnetically Actuated Continuum Medical Robots: A Review

Yang

Cao

et al. 2023

Advanced Intelligent Systems

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The magnetic field has unique advantages in manipulating miniature robots working inside the human body, such as high transparency to biological tissue and good controllability for field generation. Generally, the actuated magnetic robot can be classified into two categories: tethered devices like intravascular microcatheters and untethered devices like helical swimmers. Among these, the tethered devices have a long history and good clinical application prospects, considering their high‐dose delivery and easy removal after the procedure. As an evolution of traditional continuum medical devices, the integration with magnetic actuation provides them with better scalability and improved dexterity. Although rapidly developed in the last two decades, the field of tethered magnetic robots requires further advancements in terms of design, fabrication, modeling, and control, especially for clinical applications. Herein, the recent progress of magnetically actuated continuum medical robots is focused on, intending to offer readers a comprehensive survey of the state‐of‐the‐art technologies and an information collection for future system design.

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“…While substantial research effort has been invested in how to generate the external magnetic field, e.g., with combinations of electromagnetic coils [4], [5], [6], [7] or robot-mounted permanent magnets [8], [9], [10], [11], the systematic design of the steerable tip is a topic of current and growing interest [12], [13]. The earliest magnetic steerable tip designs were comprised of a single permanent magnet Fig.…”

Section: Introductionmentioning

confidence: 99%

Magnetic Ball Chain Robots for Endoluminal Interventions

Pittiglio¹,

Mencattelli²,

Dupont³

2023

Preprint

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This paper introduces a novel class of hyperredundant robots comprised of chains of permanently magnetized spheres enclosed in a cylindrical polymer skin. With their shape controlled using an externally-applied magnetic field, the spherical joints of these robots enable them to bend to very small radii of curvature. These robots can be used as steerable tips for endoluminal instruments. A kinematic model is derived based on minimizing magnetic and elastic potential energy. Simulation is used to demonstrate the enhanced steerability of these robots in comparison to magnetic soft continuum robots designed using either distributed or lumped magnetic material. Experiments are included to validate the model and to demonstrate the steering capability of ball chain robots in bifurcating channels.

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Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets

Abstract: This is a repository copy of Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets.

Cited by 24 publications

References 30 publications

Six-Degree-of-Freedom Localization Under Multiple Permanent Magnets Actuation

Six-Degree-of-Freedom Localization Under Multiple Permanent Magnets Actuation

Magnetically Actuated Continuum Medical Robots: A Review

Magnetic Ball Chain Robots for Endoluminal Interventions

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