Development and Evaluation of Novel Magnetic Actuated Microrobot with Spiral Motion Using Electromagnetic Actuation System

Fu, Qiang; Guo, Shuxiang; Huang, Qiang; Hirata, Hideyuki; Ishihara, Hidenori

doi:10.1007/s40846-016-0147-7

Cited by 42 publications

(9 citation statements)

References 26 publications

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“…In order to analyze the motion characteristics of the targeted drug delivery robot, the microrobot dynamic model is established based on hydrodynamics theo as shown in Figure 4a. For the convenience of analysis, the circumferential velocity u c and axial velocity v a of the targeted drug delivery microrobot during rotation are decomposed along the spiral direction and perpendicular to the spiral direction, respectively, to form the velocity W along the spiral direction and the velocity V perpendicular to the spiral direction [23]. θ r is the spiral rise angle of the helix, a is the pitch, b is the thread width, h is the thread height, c is the gap between the top of the thread and the inner wall of the intestinal tract, and µ is the fluid viscosity.…”

Section: Dynamic Modelmentioning

confidence: 99%

Performance Evaluation of a Magnetically Driven Microrobot for Targeted Drug Delivery

Cai

Zhang

et al. 2021

Micromachines

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Given that the current microrobot cannot achieve fixed-point and quantitative drug application in the gastrointestinal (GI) tract, a targeted drug delivery microrobot is proposed, and its principle and characteristics are studied. Through the control of an external magnetic field, it can actively move to the affected area to realize the targeted drug delivery function. The microrobot has a cam structure connected with a radially magnetized permanent magnet, which can realize two movement modes: movement and targeted drug delivery. Firstly, the magnetic actuated capsule microrobotic system (MACMS) is analyzed. Secondly, the dynamic model and quantitative drug delivery model of the targeted drug delivery microrobot driven by the spiral jet structure are established, and the motion characteristics of the targeted drug delivery microrobot are simulated and analyzed by the method of Computational Fluid Dynamics (CFD). Finally, the whole process of the targeted drug delivery task of the microrobot is simulated. The results show that the targeted drug delivery microrobot can realize basic movements such as forward, backward, fixed-point parking and drug delivery through external magnetic field control, which lays the foundation for gastrointestinal diagnosis and treatment.

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Section: Dynamic Modelmentioning

confidence: 99%

Performance Evaluation of a Magnetically Driven Microrobot for Targeted Drug Delivery

Cai

Zhang

et al. 2021

Micromachines

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“…The system uses these inputs to calculate the required orientation of the magnetic moment ψ and the value of gz, using the inverse kinematics equations (( 13) and ( 14)), following which, it obtains the requisite current for each pair of coils using the magnetic function equations ((2), (7), and ( 15)). The uniform magnetic field defines the orientation and direction of motion of the microrobot, while the gradient defines its speed.…”

Section: Verification Of the Proposed Systemmentioning

confidence: 99%

“…As the electric current flowing in individual coils in each pair of UMF-generating coils is the same, in most cases, both coils are connected in series and controlled with a single power supply, resulting in a system with three pairs of coils and three power supplies. Though control of this kind of system is the simplest, as they are unable to generate magnetic forces, their applications are typically limited to microrobots with 2 rotational degrees of freedom (DOFs), such as helical microrobots [7], [8] and microrobots with flexible tails [9], [10]. Though UMFs alone can be used for some biomedical applications like unclogging blood vessels [11], [12], it has been proved that a gradient magnetic field (GMF) can enhance the drilling performance of microrobots, and provide them with new functions [13]- [15].…”

Section: Introductionmentioning

confidence: 99%

Magnetic Force-Propelled 3D Locomotion Control for Magnetic Microrobots via Simple Modified Three-Axis Helmholtz Coil System

Ramos-Sebastian¹,

Kim

2021

IEEE Access

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Magnetic microrobots are propelled by magnetic fields or magnetic field gradients generated by electromagnetic systems. Generally, 3D Helmholtz coils systems are used for microrobot propulsion, because of their low power consumption, ease of manufacture, and ease of control, for which, only three power supplies are required. Systems of this kind can only generate uniform magnetic fields, which limits their range of applications. However, generating both uniform magnetic fields and gradients typically requires more coils and power supplies, resulting in large expensive energy-intensive systems with complicated control algorithms. Although the aforementioned systems can control magnetic robots with up to 6 degrees of freedom (DOFs), most existing applications at the micro/nanoscale only require 2 rotational DOFs and 1 translational DOF. Here, we propose a new control system capable of producing 3D uniform magnetic fields with 3 DOFs and 3D gradients with 1 DOF. With this system, one pair of coils in a traditional 3D Helmholtz coil system is modified, to enable independent control of the individual coils directing a selected axis, while the configuration of the remaining two pairs of coils is unchanged. This results in a control system with low power consumption, and a simple control algorithm that can be easily applied to existing 3D Helmholtz systems, as it only requires the addition of a power supply. In combination with the developed system, we also propose a new control algorithm applicable to both permanently and temporarily magnetized microrobots, and verify this experimentally.

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“…The current external magnetic field-driven system can be divided into electromagnetic coil-driven system and permanent magnet-driven system [9][10]. The former generates a magnetic moment by the current input coil and can offer continuous control over magnetic field intensity and frequency.…”

Section: State Of the Artmentioning

confidence: 99%

Self-starting Characteristics of Magnetic Controlled Spiral Capsule Robots

Bai¹,

Wu²,

Chi³

et al. 2019

JESTR

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The low power consumption and operability of magnetic controlled spiral capsule robots (MCSCRs) are important indexes that influence the interventional diagnosis and treatment of digestive tract. However, existing studies lack of analysis on the self-starting characteristics of MCSCRs. For simple and effective swimming of a MCSCR in a liquid environment, a self-starting characteristic model of MCSCR was proposed. A new portable electromagnetic propulsion device with dynamic rotating magnetic field and a MCSCR were also developed. A spatial magnetic field distribution model of a permanent magnet was constructed in accordance with the Biot-Savart law. This model was employed to determine the coupling characteristic relation between master and slave permanent magnets. A self-starting model of robots in a pipe filled with liquid was deduced, and the interaction laws of self-starting rotating speed, fluid viscosity, and axial thrust were determined. Results demonstrate that the self-starting rotating speed of robots increases with the increase in fluid viscosity, and the axial thrust is enhanced gradually as rotating speed increases. When the fluid viscosity is 0.1 Pa•s, the self-starting rotating speed reaches the minimum value (85 r/min). Self-starting control of robots with a low torque and a strong axial thrust can be realized by adjusting the self-starting distance and rotating speed between the master permanent magnet and robot. When the master permanent magnet is 29 mm away from the robot, the maximum coupling magnetic moment is the lowest (0.1 Pa•s). This study can provide theoretical supports to low-power rapid medical examination based on in vivo capsule robot.

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Development and Evaluation of Novel Magnetic Actuated Microrobot with Spiral Motion Using Electromagnetic Actuation System

Cited by 42 publications

References 26 publications

Performance Evaluation of a Magnetically Driven Microrobot for Targeted Drug Delivery

Performance Evaluation of a Magnetically Driven Microrobot for Targeted Drug Delivery

Magnetic Force-Propelled 3D Locomotion Control for Magnetic Microrobots via Simple Modified Three-Axis Helmholtz Coil System

Self-starting Characteristics of Magnetic Controlled Spiral Capsule Robots

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