Design and prototyping of a magnetic actuator based permanent magnets for microbead navigation in viscous environment

Amokrane, Walid; Belharet, Karim; Souissi, Mouna; Grayeli, Alexis Bozorg; Ferreira, Antoine

doi:10.1109/iros.2017.8202185

Cited by 6 publications

(1 citation statement)

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“…There are multiple solutions for propelling a microrobot in a viscous medium. The solution adopted here is to use a combination of permanent magnets [ 30 , 35 ]. Such a magnetic actuation system can generate magnetic fields that can induce effective forces to a magnetic device in a compact form-factor.…”

Section: Design Specificationsmentioning

confidence: 99%

CochleRob: Parallel-Serial Robot to Position a Magnetic Actuator around a Patient’s Head for Intracochlear Microrobot Navigation

Nadour

Grayeli

Poisson

et al. 2023

Sensors

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Our work introduces a new robotic solution named CochleRob, which is used for the administration of super-paramagnetic antiparticles as drug carriers into the human cochlea for the treatment of hearing loss caused by damaged cochlea. This novel robot architecture presents two key contributions. First, CochleRob has been designed to meet specifications pertaining to ear anatomy, including workspace, degrees of freedom, compactness, rigidity, and accuracy. The first objective was to develop a safer mathod to administer drugs to the cochlea without the need for catheter or CI insertion. Secondly, we aimed at developing and validating the mathemathical models, including forward, inverse, and dynamic models, to support the robot function. Our work provides a promising solution for drug administration into the inner ear.

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Section: Design Specificationsmentioning

confidence: 99%