Motion control of a large gap magnetic suspension system for microrobotic manipulation

Craig, David; Khamesee, Mir Behrad

doi:10.1088/0022-3727/40/11/004

Cited by 19 publications

(10 citation statements)

References 16 publications

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“…111 Their field generator is based on earlier work on magnetic levitation systems. 112,113 Numerical optimization of electromagnetic end-effectors and permanent magnetic assemblies for capsule maneuvering is a field of active research. 114,115 Magnetic resonance imaging (MRI) is the most ubiquitous magnetic system in use for medical applications.…”

Section: B1 Magnetically Guided Capsule Gastroscopymentioning

confidence: 99%

Magnetically guided capsule endoscopy

et al. 2017

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Wireless capsule endoscopy (WCE) is a powerful tool for medical screening and diagnosis, where a small capsule is swallowed and moved by means of natural peristalsis and gravity through the human gastrointestinal (GI) tract. The camera-integrated capsule allows for visualization of the small intestine, a region which was previously inaccessible to classical flexible endoscopy. As a diagnostic tool, it allows to localize the sources of bleedings in the middle part of the gastrointestinal tract and to identify diseases, such as inflammatory bowel disease (Crohn's disease), polyposis syndrome, and tumors. The screening and diagnostic efficacy of the WCE, especially in the stomach region, is hampered by a variety of technical challenges like the lack of active capsular position and orientation control. Therapeutic functionality is absent in most commercial capsules, due to constraints in capsular volume and energy storage. The possibility of using body-exogenous magnetic fields to guide, orient, power, and operate the capsule and its mechanisms has led to increasing research in Magnetically Guided Capsule Endoscopy (MGCE). This work shortly reviews the history and state-of-art in WCE technology. It highlights the magnetic technologies for advancing diagnostic and therapeutic functionalities of WCE. Not restricting itself to the GI tract, the review further investigates the technological developments in magnetically guided microrobots that can navigate through the various air-and fluid-filled lumina and cavities in the body for minimally invasive medicine.

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Section: B1 Magnetically Guided Capsule Gastroscopymentioning

confidence: 99%

Magnetically guided capsule endoscopy

et al. 2017

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“…A large range of motion levitation system for small magnets using multiple permanent magnets, pole pieces, and actuation coils to control magnetic fields is described in (Khamesee & Shameli, 2005). A gripper has been added to this system for magnetic levitation micromanipulation (Craig & Khamesee, 2007), however the spatial rotation of the magnet is uncontrolled. Spherical motors (Yan et al, 2006;Chirikjian & Stein, 1999) have been developed to control spatial orientation of a rigid body using magnets and coils, yet these are supported by www.intechopen.com Using Magnetic Levitation for Haptic Interaction 33 bearings and not levitated or controlled in position.…”

Section: Magnetic Levitation Systemsmentioning

confidence: 99%

Using Magnetic Levitation for Haptic Interaction

Berkelman¹,

Dzadovsky²

2010

Advances in Haptics

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“…The possibility of ultra-fine motion control in the nanometer order was confirmed [10][11][12]. A magnetic suspension system for micromanipulation was also discussed [13]. Therefore, the magnetic suspension system is a good experimental system for investigating the dynamics of suspended bodies and considering a control scheme because of the easiness of measurement and control.…”

Section: Introductionmentioning

confidence: 99%

Indirect magnetic suspension by an actively controlled permanent magnet

Yamamoto

Kimura

Hikihara

2013

NOLTA

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Abstract:In this paper, we propose an indirect suspension system that is analogous to a nanosuspension system with a cantilever-like atomic force microscope. The proposed system mainly consists of an electromagnet, a permanent magnet and a target. These magnets are arranged perpendicular to each other. In this system, the current flowing in the electromagnet is the only adjustable parameter, and the magnetic field created by the electromagnet hardly affects the target because of the distance between them. Thus suspension of the target is possible by the dynamically controlled permanent magnet. The indirect suspension system is modeled by a magnetic charge model. The validity of the model is confirmed using a simple system where the permanent magnet is suspended by an electromagnet. A proportional-derivative controller is designed for the indirect suspension using the model. The experimental and numerical results confirm that the target is successfully suspended.

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Motion control of a large gap magnetic suspension system for microrobotic manipulation

Cited by 19 publications

References 16 publications

Magnetically guided capsule endoscopy

Magnetically guided capsule endoscopy

Using Magnetic Levitation for Haptic Interaction

Indirect magnetic suspension by an actively controlled permanent magnet

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