Comparison, optimization, and limitations of magnetic manipulation systems

Erni, Sandro; Schürle, Simone; Fakhraee, Arielle; Kratochvil, Bradley E.; Nelson, Bradley J.

doi:10.1007/s12213-013-0070-8

Cited by 46 publications

(26 citation statements)

References 48 publications

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“…should be optimized according to the requirement of the application (magnetic fields strength, DoF, workspace, etc. ), in order to maximize the energy efficiency of the system and to improve the performance of the microrobots [91]. We have also reviewed the magnetic actuation-based control methods and have summarized with block-diagrams in this paper.…”

Section: Discussionmentioning

confidence: 99%

Magnetic Actuation Based Motion Control for Microrobots: An Overview

et al. 2015

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Untethered, controllable, mobile microrobots have been proposed for numerous applications, ranging from micro-manipulation, in vitro tasks (e.g., operation of microscale biological substances) to in vivo applications (e.g., targeted drug delivery; brachytherapy; hyperthermia, etc.), due to their small-scale dimensions and accessibility to tiny and complex environments. Researchers have used different magnetic actuation systems allowing custom-designed workspace and multiple degrees of freedom (DoF) to actuate microrobots with various motion control methods from open-loop pre-programmed control to closed-loop path-following control. This article provides an overview of the magnetic actuation systems and the magnetic actuation-based control methods for microrobots. An overall benchmark on the magnetic actuation system and control method is also discussed according to the applications of microrobots.

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Section: Discussionmentioning

confidence: 99%

Magnetic Actuation Based Motion Control for Microrobots: An Overview

et al. 2015

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“…The magnetic seeds are made using an alloy of neodymium-iron-boron (NdFeB), which exhibits a remanent magnetization of approximately 5 × 10 5 A/m. 16,33,34 Particularly, this ferromagnetic material is widely utilized in catheter designs, because it has a strong magnetization, making it an excellent candidate for steering catheter tips. [35][36][37] The finite element method was applied for the simulation of the curvature of the catheter tip under an external magnetic field, taking into account the magnetic interaction among seed magnets.…”

Section: B2 Torque and Force Acting On The Magnetically Tipped Camentioning

confidence: 99%

“…14 Due to the spherical arrangement of its eight electromagnets, the CGCI system dynamically creates an isotropic magnetic field and gradient distribution along arbitrary directions, enabling faster motion of the catheter tip in real-time, and making it more stable. 13,[15][16][17] While a mathematical model for positioning the catheter in the CGCI system has been reported in Refs. 14, 17, and 18, this mathematical model is limited to single-magnettip catheters.…”

Section: Introductionmentioning

confidence: 99%

Accurate modeling and positioning of a magnetically controlled catheter tip

Nguyen

Alameh

et al. 2016

Medical Physics

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“…Recent studies have demonstrated that magnetic fields produced by both electromagnets [4] [8] and permanent magnets [9] [10] are well suited to manipulate nanoparticles. Particularly, permanent magnets made of rare earths alloys have demonstrated higher magnetic field strength and gradient than systems based on electromagnets of the same size [11]. Perhaps the permanent magnets most widely used are those made of NeodymiumIron-Boron (NdFeB) and Samarium-Cobalt (SmCo) alloys.…”

Section: Introductionmentioning

confidence: 99%

Permanent Magnets to Enable Highly-Targeted Drug Delivery Applications: A Computational and Experimental Study

Mercado-M

Cruz

2017

VII Latin American Congress on Biomedical Engineering CLAIB 2016, Bucaramanga, Santander, Colombia, October 26th -28th, 2016

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Abstract-Nanoparticle-based therapies have gained considerable attention over the past few years as potential candidates for the development of robust treatments for degenerative conditions such as Parkinson's or Alzheimer's. A major challenge to increase the specificity of such therapies is the limited control over their fate and transport upon administration. An avenue to overcome this issue is to immobilize the therapeutic molecules on magnetically responsive nanostructures. This allows a direct control via magnetic fields generated through either permanent or electromagnets. Permanent magnets offer technical and economic advantages over electromagnets but their spatial disposition needs to be dynamically adjusted to assure proper magnetic gradient directionality. The engineering of such a dynamic system requires a detailed understanding of the impact of changing the number and relative positions of magnets in close proximity to the particles, which can be tedious to achieve experimentally. Alternatively, electromagnetic modeling and simulation provides a rather expedite route to explore multiple configurations. Here we evaluate, against experimental data, the robustness of electromagnetic models incorporated in the software COMSOL® to predict field gradients and intensities. We tested two of the incorporated meshing approaches in a single magnet and an array of two magnets. Our findings indicate that the two approaches fitted the experimental data as evidenced by the statistical significance of various correlation indexes.

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Comparison, optimization, and limitations of magnetic manipulation systems

Cited by 46 publications

References 48 publications

Magnetic Actuation Based Motion Control for Microrobots: An Overview

Magnetic Actuation Based Motion Control for Microrobots: An Overview

Accurate modeling and positioning of a magnetically controlled catheter tip

Permanent Magnets to Enable Highly-Targeted Drug Delivery Applications: A Computational and Experimental Study

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