Electrical Optimization Method Based on a Novel Arrangement of the Magnetic Navigation System with Gradient and Uniform Saddle Coils

Abstract

The magnetic navigation system (MNS) with gradient and uniform saddle coils is an effective system for manipulating various medical magnetic robots because of its compact structure and the uniformity of its magnetic field and field gradient. Since each coil of the MNS was geometrically optimized to generate strong uniform magnetic field or field gradient, it is considered that no special optimization is required for the MNS. However, its electrical characteristics can be still optimized to utilize the maximum power of a power supply unit with improved operating time and a stronger time-varying magnetic field. Furthermore, the conventional arrangement of the coils limits the maximum three-dimensional (3D) rotating magnetic field. In this paper, we propose an electrical optimization method based on a novel arrangement of the MNS. We introduce the objective functions, constraints, and design variables of the MNS considering electrical characteristics such as resistance, current density, and inductance. Then, we design an MNS using an optimization algorithm and compare it with the conventional MNS; the proposed MNS generates a magnetic field or field gradient 22% stronger on average than that of the conventional MNS with a sevenfold longer operating time limit, and the maximum three-dimensional rotating magnetic field is improved by 42%. We also demonstrate that the unclogging performance of the helical robot improves by 54% with the constructed MNS.

A Human‐Scale Clinically Ready Electromagnetic Navigation System for Magnetically Responsive Biomaterials and Medical Devices

“…In comparison to existing eMNSs, [25][26][27][44][45][46][47][48][49] the Navion brings three core innovations to advance RMN technologies for clinical practice: 1) a new configuration of magnetic actuators, 2) high performance electromagnets, and 3) a single standalone portable design that integrates all necessary subsystems in a single mobile device. These three innovations allow Navion to provide the necessary patient accessibility while providing magnetic field magnitudes sufficient to control microrobots within the human body at clinically relevant scales to conduct complex MIS.…”

Robot-Aided Magnetic Navigation System for Wireless Capsule Manipulation

“…In particular, magnetic capsules, which are remotely controlled via an external magnetic field to actively move, adjust its posture, and are used to perform various tasks such as sampling, drug delivery, and biopsy [ 4 , 5 , 6 , 7 , 8 , 9 , 10 , 11 , 12 ]. The external magnetic field is generated by the magnetic navigation system (MNS), and various MNSs have been developed for various purposes [ 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 , 22 , 23 ]. Several researchers have investigated MNSs composed of coils, which generates a uniform magnetic field or field gradient [ 13 , 14 , 15 , 16 , 17 ].…”

“…The external magnetic field is generated by the magnetic navigation system (MNS), and various MNSs have been developed for various purposes [ 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 , 22 , 23 ]. Several researchers have investigated MNSs composed of coils, which generates a uniform magnetic field or field gradient [ 13 , 14 , 15 , 16 , 17 ]. However, it must have a large volume to accommodate the human body inside the MNS.…”

Selective Locomotion Control of Magnetic Torque-Driven Magnetic Robots Within Confined Channels

“…Global fields are typically produced by pairs of Helmholtz and uniform saddle coils for the generation of space-uniform magnetic fields. In contrast, pairs of Maxwell and gradient saddle coils are employed for producing magnitude constant gradient fields over expansive volumes [21], [22], [23]. Utilizing these coil pairs, scholars have successfully controlled identical helical micromachines within threaded plates, demonstrating 1 Degree of Freedom (DoF) [24].…”