Electromagnet design for untethered actuation system mounted on robotic manipulator

Alasli, Abdulkareem; Çetín, Levent; Akçura, Nail; Kahveci, Aytaç; Can, Fatih Cemal; Tamer, Özgür

doi:10.1016/j.sna.2018.11.027

Cited by 16 publications

(10 citation statements)

References 24 publications

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“…Both of these techniques have been used for planar twodimensional (2D) and three-dimensional (3D) actuation of microrobots with up to 6DOF; i.e. translation and rotation over all three Cartesian axis, [31], [32], [33]. Electromagnets are well-suited for applications that require a high degree of control over the magnetic force and torque components.…”

Section: A Magnetic Actuationmentioning

confidence: 99%

Mobile Microrobots for In Vitro Biomedical Applications: A Survey

et al. 2022

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The demand in the biomedical field for fast and precise devices for in-vitro applications has increased in recent years. Mobile microrobots are significantly suitable for such applications and are developing rapidly. These microrobots offer untethered actuation towards a contamination-free environment while allowing for fast and precise handling of biological entities for applications such as positioning, sensing, delivery, and cell surgery that are highly effective for new drug discoveries and to improve our understanding of cells behavior on the single-cell level.Here, we present a review of the recent state-of-the-art in the actuation and implementation of mobile microrobots for in-vitro applications. We will first explore the widely used methods of wireless actuation. Next, we address the challenge of implementing an on-board interaction technique to handle the target biological entity without affecting the actuation of the microrobot. Finally, we will discuss the future directions that would draw the basic outline for the next generation of mobile microrobots for in-vitro applications.

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Section: A Magnetic Actuationmentioning

confidence: 99%

Mobile Microrobots for In Vitro Biomedical Applications: A Survey

et al. 2022

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“…As mentioned previously, the pair of the coaxial electromagnets can generate the required force F and torque τ for microrobot manipulation by alternating between the asymmetric and symmetric configurations. Figure 2 illustrates a schematic diagram of two specially designed electromagnets according to the constraints of the proposed system [35] placed face to face on the same axis. Each of the electromagnets can freely move along its coaxis to a specified distance from the center D 1 and D 2 .…”

Section: Magnetic Force and Torque Arising From The Coaxial Pair Of E...mentioning

confidence: 99%

“…An axial electromagnetic field gradient at O (in u direction) is also possible to be obtained by manipulating the structural parameters of the electromagnets and by considering their dimensions are much larger than of the controlled object [35]. Hence, the force equation can be further simplified to Eq.…”

Section: Magnetic Force and Torque Arising From The Coaxial Pair Of E...mentioning

confidence: 99%

“…Motivated by that, we propose the idea of integrating an EMA system to a robotic arm. The essential concept was first introduced briefly as a baseline for designing special electromagnets in a previous work of us [35] without focusing on the system itself. In this work, the EMA system is further investigated and developed in term of enhancing the force control flexibility, integrating a close loop control system with the aid of task space vision feedback system, and manipulating a microropbot in a complex 3D path at the microscale.…”

Section: Introductionmentioning

confidence: 99%

“…In this work, the EMA system is further investigated and developed in term of enhancing the force control flexibility, integrating a close loop control system with the aid of task space vision feedback system, and manipulating a microropbot in a complex 3D path at the microscale. [35].…”

Section: Introductionmentioning

confidence: 99%

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Dynamical electromagnetic actuation system for microscale manipulation

et al. 2022

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Electromagnetic actuation systems (EMA) have excelled themselves in microscale manipulation. Yet, the fastened structure of the current systems tethers the controlled workspace. In this paper, a new electromagnetic actuation principle is investigated. The actuator structure consists of a pair of coaxially movable electromagnets integrated to a robotic manipulator. The pair induces a coaxial homogeneous magnetic field or gradient to control the magnitude of the magnetic torque or force by changing the distance between the electromagnets asymmetrically. The robotic manipulator, on the other hand, transports the pair at five degrees of freedom to manipulate a microrobot in 3D space by closed-loop control with integrated vision feedback system. Numerical analyses are performed to investigate the induced electromagnetic field at the symmetrical/asymmetrical configuration of the coaxial pair. Accordingly, a correlation between the magnitude of the magnetic force and the asymmetric distance is obtained for flexible force control. A proof of concept prototype is constructed to validate the proposed actuation principle and evaluate its performance experimentally. The experimental results verify the numerical analysis and show the system applicability of inducing controlled forces on a micro-object in 2D and 3D workspaces at a velocity range of 65 to 157 $\mu$ m/s. Moreover, micromanipulation on a helical route is also demonstrated with an absolute error mean from the reference path of 191 $\mu$ m.

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On the design of a macro‐micro parallel manipulator for cochlear microrobot operations

Gezgin,

Yaşar,

Uslu

et al. 2024

Robotics Computer Surgery

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BackgroundThe method of stem cell transfer to narrow cochlear canals in vivo to generate hair cells is still an unclear operation. Thus, the development of any possible method that will ensure the usage of medical microrobots in small cochlear workspaces is a challenging procedure.MethodsThe current study tries to introduce a macro‐micro manipulator system composed of a 6‐DoF industrial serial manipulator as a macro manipulator and a proposed 5‐DoF parallel manipulator with dual end effectors as a micro manipulator carrying permanent magnets for tetherless microrobot actuation inside the cochlea.ResultsThroughout the study, structural synthesis and kinematic analysis of the proposed micro manipulator were introduced. A prototype of the manipulator was manufactured and its hardware verification procedures were carried out using motion capture cameras and surgical navigation registration methodologies.ConclusionsFollowing motion training, the assembled macro‐micro manipulator was successfully utilised to actuate a microrobot placed inside a manufactured cochlea mockup model.

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Electromagnet design for untethered actuation system mounted on robotic manipulator

Cited by 16 publications

References 24 publications

Mobile Microrobots for In Vitro Biomedical Applications: A Survey

Mobile Microrobots for In Vitro Biomedical Applications: A Survey

Dynamical electromagnetic actuation system for microscale manipulation

On the design of a macro‐micro parallel manipulator for cochlear microrobot operations

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