Magnetic Navigation System With Gradient and Uniform Saddle Coils for the Wireless Manipulation of Micro-Robots in Human Blood Vessels

Jeon, Sanghyun; Choi, Hyun‐Chul; Park, Sukho

doi:10.1109/tmag.2010.2040144

Cited by 154 publications

(81 citation statements)

References 5 publications

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“…3; Table I). 8,9 The MNS is composed of three pairs of uniform coils (x-directional Helmholtz coil and y-and z-directional uniform saddle coils) which can generate a uniform magnetic field along the respect axes. Each coil is connected to a programmable power supply that is integrated into a control panel.…”

Section: Resultsmentioning

confidence: 99%

A sphericon-shaped magnetic millirobot rolling on a surface actuated by an external wobbling magnetic field

Jeon

2017

AIP Advances

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This paper proposes a novel sphericon-shaped magnetic millirobot (SSMM) that can roll on a variety of surfaces. The SSMM comprises four identical half cones with a cylindrical magnet inserted into the geometric center. It can roll forward or backward on a surface with repeated rolling cone motions (wobbling motions). Since a rolling SSMM develops its entire surface by means of line contact, a relatively large maximum static friction force can make the SSMM move on a surface steadily and effectively. In this work, a new type of external wobbling magnetic field (EWMF) was also derived to manipulate the SSMM’s rolling motions precisely. Then, the controlled rolling motions of prototype SSMMs under various surface conditions were demonstrated to examine the rolling ability of the proposed SSMM.

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Section: Resultsmentioning

confidence: 99%

A sphericon-shaped magnetic millirobot rolling on a surface actuated by an external wobbling magnetic field

Jeon

2017

AIP Advances

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“…One configuration of saddle coils with a aspect ratio of 1.75 and φ = 120 • is proposed by Seungmun Jeon et al in order to miniaturize the aspect ratio of coils while preserving most of the uniformity. 10 However, the field uniformity rapidly falls off if the aspect ratio is further reduced. D. M. Ginsberg and F. Bonetto showed that the parameter φ can be set to a value which ensures the second-order derivatives with respect to x be zero if the optimal aspect ratio cannot be reached.…”

Section: Design Methods Of Nested Saddle Coilsmentioning

confidence: 99%

“…A configuration of saddle coils with an aspect ratio of 1.75 is proposed by Seungmun Jeon et al with the goal to balance the trade-off between coil height and field uniformity. 10 Certain practical guidelines are proposed briefly by D. M. Ginsberg and F. Bonetto. 1,5 In this paper, a novel structure with two pairs of saddle coils nested and an analytical optimization study with the goal to minish the aspect ratio of the coil without losing field uniformity are presented.…”

Section: Introductionmentioning

confidence: 99%

Novel nested saddle coils used in miniature atomic sensors

Zhou

Liu

et al. 2018

AIP Advances

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A novel uniform magnetic field coil structure with two pairs of saddle coils nested is proposed in order to minish the aspect ratio without losing much field uniformity, which is significant in innovative miniature atomic instruments and sensors. Optimal configuration parameters are obtained from the Taylor expansion of the magnetic field. The remainder terms are used to estimate the field uniformity and optimize the configuration while minishing computation time. Compared with traditional saddle coils, the nested saddle coils have unique advantages in miniature applications where the aspect ratios are strictly limited. The optimized nested saddle coils were manufactured by Flexible Printed Circuit (FPC) technology and the magnetic field uniformities were verified experimentally using a flux-gate magnetometer. Furthermore, the example application of a miniature nuclear magnetic resonance (NMR) gyro demonstrates the practical use of the nested coils.

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“…Apropos of reducing the outer volume of the electromagnetic systems, Jeon et al [53] proposed two pairs of saddle-shaped coils with different geometrical parameters and current directions: one can generate uniform magnetic fields named uniform saddle coils; the other one can generate a magnetic field gradient named gradient saddle coils (Figure 1b). The saddle-shaped coils are geometrically compact.…”

Section: Electromagnetic Actuation Systemsmentioning

confidence: 99%

Magnetic Actuation Based Motion Control for Microrobots: An Overview

et al. 2015

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Untethered, controllable, mobile microrobots have been proposed for numerous applications, ranging from micro-manipulation, in vitro tasks (e.g., operation of microscale biological substances) to in vivo applications (e.g., targeted drug delivery; brachytherapy; hyperthermia, etc.), due to their small-scale dimensions and accessibility to tiny and complex environments. Researchers have used different magnetic actuation systems allowing custom-designed workspace and multiple degrees of freedom (DoF) to actuate microrobots with various motion control methods from open-loop pre-programmed control to closed-loop path-following control. This article provides an overview of the magnetic actuation systems and the magnetic actuation-based control methods for microrobots. An overall benchmark on the magnetic actuation system and control method is also discussed according to the applications of microrobots.

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Magnetic Navigation System With Gradient and Uniform Saddle Coils for the Wireless Manipulation of Micro-Robots in Human Blood Vessels

Cited by 154 publications

References 5 publications

A sphericon-shaped magnetic millirobot rolling on a surface actuated by an external wobbling magnetic field

A sphericon-shaped magnetic millirobot rolling on a surface actuated by an external wobbling magnetic field

Novel nested saddle coils used in miniature atomic sensors

Magnetic Actuation Based Motion Control for Microrobots: An Overview

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