Planar Magnetic Actuation for Soft and Rigid Robots Using a Scalable Electromagnet Array

Li, Xiaosa; Lu, Chengyue; Song, Ziwu; Ding, Wenbo; Zhang, Xiao-Ping

doi:10.1109/lra.2022.3190830

Cited by 4 publications

(1 citation statement)

References 31 publications

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“…[103] Following this idea, diverse systems using distributed electromagnets have been developed, possessing different numbers of coils and layouts (Figure 5d). [104][105][106][107][108][109][110][111] Systems with different configurations show one or multiple priorities among magnetic torque control, magnetic force control, accommodation to the human body and imaging equipment, scaling issues, and energy efficiency.…”

Section: Platform With Flexible Field Generationmentioning

confidence: 99%

Magnetically Actuated Continuum Medical Robots: A Review

Yang

Cao

et al. 2023

Advanced Intelligent Systems

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The magnetic field has unique advantages in manipulating miniature robots working inside the human body, such as high transparency to biological tissue and good controllability for field generation. Generally, the actuated magnetic robot can be classified into two categories: tethered devices like intravascular microcatheters and untethered devices like helical swimmers. Among these, the tethered devices have a long history and good clinical application prospects, considering their high‐dose delivery and easy removal after the procedure. As an evolution of traditional continuum medical devices, the integration with magnetic actuation provides them with better scalability and improved dexterity. Although rapidly developed in the last two decades, the field of tethered magnetic robots requires further advancements in terms of design, fabrication, modeling, and control, especially for clinical applications. Herein, the recent progress of magnetically actuated continuum medical robots is focused on, intending to offer readers a comprehensive survey of the state‐of‐the‐art technologies and an information collection for future system design.

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