OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation

We demonstrate five-degree-of-freedom (5-DOF) wireless magnetic control of a fully untethered microrobot (3-DOF position and 2-DOF pointing orientation). The microrobot can move through a large workspace and is completely unrestrained in the rotation DOF. We accomplish this level of wireless control...

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Bibliographic Details
Published in:IEEE transactions on robotics 2010-12, Vol.26 (6), p.1006-1017
Main Authors: Kummer, M P, Abbott, J J, Kratochvil, B E, Borer, R, Sengul, A, Nelson, B J
Format: Article
Language:English
Subjects:
Applied sciences
Biological and medical sciences
Computer science
control theory
systems
Concerts
Control system synthesis
Control systems
Control theory. Systems
Electromagnetics
Electromagnets
Exact sciences and technology
Magnetic
Magnetic control
Magnetic fields
Magnetic levitation
Magnetic noise
Magnetic resonance imaging
medical
Medical sciences
Microelectromechanical systems
Micromanipulation
micromanipulator
microrobot
Microrobots
minimally invasive surgery
Nonuniform magnetic fields
Representations
Robotics
Surgery
Surgery (general aspects). Transplantations, organ and tissue grafts. Graft diseases
Surgery of the eye and orbit
untethered
wireless
Wireless communication
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Summary:We demonstrate five-degree-of-freedom (5-DOF) wireless magnetic control of a fully untethered microrobot (3-DOF position and 2-DOF pointing orientation). The microrobot can move through a large workspace and is completely unrestrained in the rotation DOF. We accomplish this level of wireless control with an electromagnetic system that we call OctoMag. OctoMag's unique abilities are due to its utilization of complex nonuniform magnetic fields, which capitalizes on a linear representation of the coupled field contributions of multiple soft-magnetic-core electromagnets acting in concert. OctoMag was primarily designed to control intraocular microrobots for delicate retinal procedures, but it also has potential uses in other medical applications or micromanipulation under an optical microscope.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2010.2073030