EMA system with gradient and uniform saddle coils for 3D locomotion of microrobot

Choi, Hyun‐Chul; Cha, Kyoungrae; Choi, Jung Hye; Jeong, Seongtae; Jeon, Sanghyun; Jang, Gunhee; Park, Jong-oh; Park, Sukho

doi:10.1016/j.sna.2010.08.014

Cited by 77 publications

(65 citation statements)

References 10 publications

(19 reference statements)

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“…force factor = H · ∇ H. (15) As shown in Fig. 2, magnetization in the limited range of the magnetic field is directly related to the magnetic field intensity.…”

Section: ) 3-d Configurationmentioning

confidence: 99%

“…Furthermore, Mathieu and Martel [11] and Martel et al [12] proposed a system that can generate the force needed to propel magnetic particles inside a magnetic resonance imaging (MRI) device using the electromagnets. Based on MRI concepts, the most recent actuation systems designed for manipulating magnetic particles use two sets of coils for each actuating direction [13]- [15]. In such systems, a set of Helmholtz coils is used to produce a uniform constant magnetic field in the desired direction to magnetize particles, and a set of Maxwell coils is used to generate the gradient magnetic field to produce the necessary magnetophoretic force for propelling magnetic particles.…”

Section: Introductionmentioning

confidence: 99%

“…In such systems, a set of Helmholtz coils is used to produce a uniform constant magnetic field in the desired direction to magnetize particles, and a set of Maxwell coils is used to generate the gradient magnetic field to produce the necessary magnetophoretic force for propelling magnetic particles. In addition, some designs use a magnetophoretic force generated in 2-D with a mechanical force in a third direction added to the system [15]; although useful, the system is more complex. Despite recent advances in the targeted delivery of magnetic particles to some organs (see liver [16]), transferring the particles to brain cells remains difficult due to the bloodbrain barrier (BBB), which prevents unrecognized particles from reaching brain cells; therefore, the delivery of therapeutic agents to specific regions of the brain represents a major challenge.…”

Section: Introductionmentioning

confidence: 99%

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A Novel Electromagnetic Actuation System for Magnetic Nanoparticle Guidance in Blood Vessels

2014

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Targeted drug delivery using magnetic nanoparticles (MNPs) is a new therapeutic method and is being improved continually. However, recent improvements have focused mainly on the introduction and synthesis of special drugs and there are still limitations getting a drug to desired locations in the body, primarily owing to the small size of nanoparticles and the difficulty of controlling their movement in the body. This paper introduces a new electromagnetic actuation system for guiding MNPs in blood vessels. This system uses six electromagnets powered by currents that can generate a high-gradient magnetic field in the desired direction. A differential current coil (DCC) approach is used to calculate the current applied to each coil. Due to properties of the DCC approach, it is possible to use soft iron cores at the centers of the coils to amplify and concentrate the magnetic field in the desired region and generate a stronger magnetic force than the existing coil systems. To evaluate the performance of the actuation system, a model that guided nanoscale magnetic particles inside special channels was studied using commercial software. To improve the efficiency of the electromagnets for MNP guidance, the structural parameters of the cores and coils were chosen based on the simulation results to get the largest magnetic force in the region of interest, which was set as size of the mouse brain. The proposed actuation system is very compact and less expensive than previous systems. Furthermore, the simulation results demonstrated that the actuation system can generate adequate magnetophoretic forces for nanoparticle steering in a Y-shaped vascular model and can be potentially used as a propulsion tool for MNP guidance in blood vessels.

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“…force factor = H · ∇ H. (15) As shown in Fig. 2, magnetization in the limited range of the magnetic field is directly related to the magnetic field intensity.…”

Section: ) 3-d Configurationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Novel Electromagnetic Actuation System for Magnetic Nanoparticle Guidance in Blood Vessels

2014

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“…Gastrointestinal tract driven by microrobot actively is expected in the diagnosis, treatment, spraying, sampling and other medical engineering while MEMS (microelectromechanical systems) technology is combined with the medical technology and application, which will play an important role in the clinical application [1] [2].…”

Section: Introductionmentioning

confidence: 99%

Development of a novel wireless microrobot in-pipe with hybrid motion

Guo

Wei

Guo

et al. 2014

2014 IEEE International Conference on Mechatronics and Automation

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Non-invasive into the human digestive tract or artery, complete minimally invasive or non-invasive diagnosis and treatment have become a hot pursuit of the current international biomedical field. In this paper, a new kind of hybrid motion wireless microrobot in-pipe with gravity compensation had been designed, which had a more compact structure. By switching the rotation magnetic field and alternating magnetic field, the microrobot could realize the rotation motion and fish-like motion in pipe immediately. The microrobot with gravity compensation designed mechanism could achieve forward-backward and upward-downward motion in pipe easily with the similar dynamic characteristics and more efficient by much simpler control strategies. Based on the experiments, the effect on the spiral motion and fish-like motion had been evaluated. The experimental results indicated that hybrid microrobot Type A is superior to Type B, the maximum velocity of hybrid microrobot Type A is 29.5mm/s at 15Hz in the horizontal direction and 8.7mm/s at 14Hz in the vertical direction with input current of 0.7A. The wireless microrobot in-pipe controlled by external magnetic field will play a significant role in both industrial field and medical applications. Furthermore it will bring the gospel to diagnosis and treatment of the human gastrointestinal tract disease in the future.

show abstract

“…Gastrointestinal tract driven by microrobot actively is expected in the diagnosis, treatment, spraying, sampling and other medical engineering while MEMS (micro-electromechanical systems) technology is combined with the medical technology and application, which will play an important role in the clinical application 1,2 . Wireless microrobots are employed in a wide range of biomedical application.…”

mentioning

confidence: 99%

A Novel tele-operation controller for wireless microrobots in-pipe with hybrid motion

Guo

Wei

et al. 2016

Robotics and Autonomous Systems

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EMA system with gradient and uniform saddle coils for 3D locomotion of microrobot

Cited by 77 publications

References 10 publications

A Novel Electromagnetic Actuation System for Magnetic Nanoparticle Guidance in Blood Vessels

A Novel Electromagnetic Actuation System for Magnetic Nanoparticle Guidance in Blood Vessels

Development of a novel wireless microrobot in-pipe with hybrid motion

A Novel tele-operation controller for wireless microrobots in-pipe with hybrid motion

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