Enhanced locomotive and drilling microrobot using precessional and gradient magnetic field (original) (raw)
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Sensors and Actuators A: Physical, 2010
Various types of actuation methods for microrobots have been proposed. Among the actuation methods, electromagnetic based actuation (EMA) has been considered a promising actuation mechanism. In this paper, a new EMA system for three-dimensional (3D) locomotion and drilling of the microrobot is proposed. The proposed system consists of four fixed coil pairs and one rotating coil pair. In detail, the coil system has three pairs of stationary Helmholtz coil, a pair of stationary Maxwell coil and a pair of rotating Maxwell coil. The Helmholtz coil pairs can magnetize and align the microrobot to the desired direction and the two pairs of Maxwell coil can generate the propulsion force of the microrobot. In addition, the Helmholtz coil pairs can rotate the microrobot about a desired axis. The rotation of the microrobot is a drilling action through an occlusion in a vessel. Through various experiments, the 3D locomotion and drilling of the microrobot by using the proposed EMA system are demonstrated. Compared with other EMA systems, the proposed system can provide the advantages of consecutive locomotion and drilling of the microrobot.
Sensors and Actuators A: Physical, 2010
A new electromagnetic actuation (EMA) method is proposed for 3-dimensional locomotion of a microrobot. Generally, the EMA system uses Helmholtz coils and Maxwell coils. The Helmholtz coil pair generates a uniform magnetic flux density and the Maxwell coil pair generates a uniform gradient magnetic flux. The microrobot can be aligned to the desired direction by the Helmholtz coils and then, be propelled in the aligned direction by the Maxwell coils. However, many previous EMA systems have been restricted to 2-dimensional planar actuation. The EMA system proposed in this paper consists of a pair of stationary Helmholtz-Maxwell coils and a pair of rotational Helmholtz-Maxwell coils. This new EMA system can manipulate a microrobot in 3-dimensional space. For accurate actuation of a microrobot, the gravitational force, which influences the motion of microrobot, has to be analyzed and compensated. Through various experiments, the performance of the proposed EMA system was evaluated. Finally, a microrobot was test-driven in a blood vessel phantom, and the result of the test drive verified the feasibility of 3-dimensional motion of a microrobot by the new EMA system. Crown
2010
Various types of actuation methods for microrobots have been proposed. Among the actuation methods, electromagnetic based actuation (EMA) has been considered a promising actuation mechanism. In this paper, a new EMA system for three-dimensional (3D) locomotion and drilling of the microrobot is proposed. The proposed system consists of four fixed coil pairs and one rotating coil pair. In detail, the coil system has three pairs of stationary Helmholtz coil, a pair of stationary Maxwell coil and a pair of rotating Maxwell coil. The Helmholtz coil pairs can magnetize and align the microrobot to the desired direction eywords: icrorobot lectromagnetic elmholtz coil axwell coil rilling and the two pairs of Maxwell coil can generate the propulsion force of the microrobot. In addition, the Helmholtz coil pairs can rotate the microrobot about a desired axis. The rotation of the microrobot is a drilling action through an occlusion in a vessel. Through various experiments, the 3D locomotion and...
3-D Locomotive and Drilling Microrobot Using Novel Stationary EMA System
IEEE/ASME Transactions on Mechatronics, 2000
For 3-D locomotion and drilling of a microrobot, we proposed an electromagnetic actuation (EMA) system consisting of three pairs of stationary Helmholtz coils, a pair of stationary Maxwell coils, and a pair of rotating Maxwell coils in the previous research [1]. However, this system could have limited medical applications because of the pair of rotational Maxwell coils. In this paper, we propose a new EMA system with three pairs of stationary Helmholtz coils, a pair of stationary Maxwell coils, and a new locomotive mechanism for the same 3-D locomotion and drilling of the microrobot as achieved by the previously proposed EMA system. For the performance evaluation of the proposed EMA system, we perform a 3-D locomotion and drilling test in a blood vessel phantom. In addition, the two EMA systems are compared to show that the newly proposed EMA system has 440% wider working space and 49% less power consumption than the previous EMA system.
Electromagnetic actuation system for locomotive intravascular therapeutic microrobot
5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014
In this paper, we proposed an intravascular therapeutic microrobot using an electromagnetic actuation (EMA) system with bi-plane X-ray imaging device. The proposed EMA system consists of Helmholtz-Maxwell coils, uniform-gradient saddle coils. The Helmholtz-Maxwell coils are located along y-axis, and uniform-gradient saddle coils are located perpendicular to y-axis. In order to align the microrobot along a desired angle in 2D (dimensional) plane, it is necessary to control of the currents on Helmholtz coil and uniform saddle coil. For a forward and backward direction movement of the microrobot, we precisely control the currents of Maxwell coil and gradient saddle coil. Because the saddle coils can be rotated around the y-axis, the effective actuation plane of the microrobot can be also rotated, and the microrobot can move in 3D space. In addition, for the position recognition of the microrobot in a blood vessel, we adopted a bi-plane X-ray fluoroscopy. If the saddle coils are rotated around the y-axis, an open area is changed. Therefore, the saddle coils and bi-plane X-ray fluoroscopy must be rotated simultaneously. To confirm the feasibility of 3D locomotion of the microrobot, we executed a locomotion test of the microrobot in the blood vessel phantom, where the blood vessel phantom was fabricated by the rendering data from computed tomography (CT) images of the iliac artery and 3D printer.
Two-dimensional locomotion of a microrobot with a novel stationary electromagnetic actuation system
Smart Materials and Structures, 2009
In this paper, we study the locomotion of a microrobot for intravascular therapy. As an intravascular microrobot has to be small, a conventional actuator, such as a micro-motor, and a battery cannot be integrated. To solve this integration problem, we analyze a microrobot with an electromagnetic actuation (EMA) system. Previously, an EMA system using two stationary coil pairs was proposed for the 2-dimensional (D) planar locomotion of a microrobot. The EMA system used two stationary pairs of Helmholtz coils and two stationary pairs of Maxwell coils in the xand y-direction, respectively. This paper proposes a novel stationary EMA system using two pairs of Helmholtz coils and one pair of Maxwell coils. The 2D locomotion of the microrobot using the proposed EMA system is analyzed and verified by various experiments. The microrobot actuated by the proposed EMA system was able to move in the desired direction on the desired path. The comparison between the proposed EMA system and the previous EMA system showed that the proposed system had an 18% smaller volume and used 91% less coil current for the same actuation force than the previous EMA system. The proposed EMA system produced 2D locomotion of the microrobot, while having a small volume and a lower power consumption than the previous EMA system.
Electromagnetic actuation methods for intravascular locomotive microrobot
2010 Annual International Conference of the IEEE Engineering in Medicine and Biology, 2010
Heart diseases such as angina pectoris and myocardial infarction have been becoming the leading causes of death all over the world in recent years. The pharmacotherapy and the surgical operations are executed for treating heart problems. The percutaneous coronary intervention (PCI) with catheter is frequently used for the treatment of coronary artery diseases in spite of that the treatment of chronic total occlusion (CTO) is very difficult and challenging operation, since there is no efficient alternative therapy until now. For this reason, the microrobot to improve the intravascular treatment is one of growing research area. In this paper, various electromagnetic actuation (EMA) systems to supply driving power for the microrobot were proposed. The performance of the locomotion of microrobot in the 2D and 3D space were validated with in-vitro experiments and also the in-vivo tests were performed for demonstrating the movement of microrobot in the living rabbit.
Analysis and Comparison of Electromagnetic Microrobotic Platforms for Biomedical Applications
Applied Sciences
Magnetic microrobotics is a promising technology for improving minimally invasive surgery (MIS) with the ambition of enhancing patient care and comfort. The potential benefits include limited incisions, less hemorrhaging and postoperative pain, and faster recovery time. To achieve this, a key issue relies on the design of a proper electromagnetic actuation (EMA) setup which is based on the use of magnetic sources. The magnetic field and its gradient generated by the EMA platform is then used to induce magnetic torque and force for microrobot manipulations inside the human body. Like any control systems, the EMA system must be adapted to the given controlled microrobot and customized for the application. With great research efforts on magnetic manipulating of microrobots, the EMA systems are approaching commercial applications, and their configurations are becoming more suitable to be employed in real medical surgeries. However, most of the proposed designs have not followed any spec...
Three-dimensional electromagnetic actuation system for intravascular locomotion
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
Various types of actuation methods for intravascular locomotive microrobot have been proposed and demonstrated. Among the actuation methods, electromagnetic based actuation (EMA) was considered as a promising mechanism. In generally, planar EMA systems for 2 dimensional movement of the microrobot were proposed and demonstrated. In this paper, we present 3 dimensional (D) EMA systems for the 3D space locomotion of the microrobot. The proposed system consists of a coil system and a robotic actuation system. The coil system has a pair of Helmholtz coils and a pair of Maxwell coils, and the robotic actuation system has a serial robot structure with roll-pitch-roll rotational axes which can rotate about three orthogonal axes (X, Y and Z). Finally, through experiments, we can demonstrate 3D movement of the microrobot by using the proposed EMA system. The proposed EMA system can be utilized for the 3D actuation of the intravascular microrobot.
Remote controlled micro-robots using electromagnetic actuation (EMA) systems
2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012
ABSTRACT The purpose of this paper is to introduce a new generation of micro-robots utilizing electromagnetic actuation (EMA) systems technology. The fundamental principles and characteristics of EMA systems are presented in order to facilitate understanding of the technology. The proposed micro-robots using EMA systems are categorized as 1) micro-robots actuated by the gradient magnetic field of EMA systems in 2D and 3D space and 2) micro-robots propelled by the rotational magnetic field of EMA systems. The various proposed types of EMA micro-robot systems serve to demonstrate the different locomotive performance capabilities of the micro-robots and show the feasibility of EMA micro-robot systems as medical apparatus. As such, this paper can be of great benefit to the development of a new type of medical EMA systems or the application of such systems.