OctoMag: An electromagnetic system for 5-DOF wireless micromanipulation

Kratochvil,; Kummer,; Abbott,; Borer,; Ergeneman,; Nelson, Bradley J.

doi:10.1109/robot.2010.5509241

Cited by 113 publications

(158 citation statements)

References 27 publications

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“…Kummer et al [35] designed an electromagnetic system consisting of eight electromagnets named OctoMag. The OctoMag system enables five DoF wireless magnetic control of a fully-untethered microrobot, including three DoF of translation (3T) and two DoF of rotation (2R).…”

Section: Electromagnetic Actuation Systemsmentioning

confidence: 99%

“…A closed-loop control of microrobots is necessary for precise motion in presence of perturbations generated by thermal noise [80], or drifting due to boundary effects [35,81,82]. A robust and efficient control system is required for microrobots, because the high sensitivity of the micro-systems to environmental variables, and the high velocities at the microscale.…”

Section: Closed-loop Controlmentioning

confidence: 99%

“…For an elliptic microrobot, which can move from one location to another in a holonomic way, Kummer et al [35] implemented a simple proportional-derivative (PD) controller to estimated the magnetic forces based on the error of the position. For a desired magnetic force, the current can be computed for each coil.…”

Section: Closed-loop Controlmentioning

confidence: 99%

“…In this article, we focus on the magnetic actuation-based motion control of microrobots. In the literature, swimming microrobots are wirelessly propelled in a fluid environment: some of them can be pulled by a magnetic gradient [35]; some of them having helical structures are rotated by a rotating magnetic field and convert the rotation to linear displacement [36][37][38][39]. Researchers have used different magnetic actuation systems allowing differently-sized workspace and degrees of freedom (DoF).…”

Section: Introductionmentioning

confidence: 99%

“…Researchers have used different magnetic actuation systems allowing differently-sized workspace and degrees of freedom (DoF). Various motion control methods have been applied, developing from open-loop control [36,37,40,41] to closed-loop point-to-point positioning control [35,42] or closed-loop path following [43]. The aim of this paper is to review the magnetic actuation systems and the motion control methods for microrobots.…”

Section: Introductionmentioning

confidence: 99%

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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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Section: Electromagnetic Actuation Systemsmentioning

confidence: 99%

Section: Closed-loop Controlmentioning

confidence: 99%

Section: Closed-loop Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Magnetic Actuation Based Motion Control for Microrobots: An Overview

et al. 2015

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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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Open challenges in magnetic drug targeting

Shapiro

Kulkarni

Nacev

et al. 2014

WIREs Nanomed Nanobiotechnol

124

119

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The principle of magnetic drug targeting, wherein therapy is attached to magnetically responsive carriers and magnetic fields are used to direct that therapy to disease locations, has been around for nearly two decades. Yet our ability to safely and effectively direct therapy to where it needs to go, for instance to deep tissue targets, remains limited. To date, magnetic targeting methods have not yet passed regulatory approval or reached clinical use. Below we outline key challenges to magnetic targeting, which include designing and selecting magnetic carriers for specific clinical indications, safely and effectively reaching targets behind tissue and anatomical barriers, real-time carrier imaging, and magnet design and control for deep and precise targeting. Addressing these challenges will require interactions across disciplines. Nanofabricators and chemists should work with biologists, mathematicians and engineers to better understand how carriers move through live tissues and how to optimize carrier and magnet designs to better direct therapy to disease targets. Clinicians should be involved early on and throughout the whole process to ensure the methods that are being developed meet a compelling clinical need and will be practical in a clinical setting. Our hope is that highlighting these challenges will help researchers translate magnetic drug targeting from a novel concept to a clinically-available treatment that can put therapy where it needs to go in human patients.

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OctoMag: An electromagnetic system for 5-DOF wireless micromanipulation

Cited by 113 publications

References 27 publications

Magnetic Actuation Based Motion Control for Microrobots: An Overview

Magnetic Actuation Based Motion Control for Microrobots: An Overview

Magnetically guided capsule endoscopy

Open challenges in magnetic drug targeting

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