A Two-Dimensional Manipulation Method for a Magnetic Microrobot with a Large Region of Interest Using a Triad of Electromagnetic Coils
This paper proposes an effective method to manipulate the 2D motions of a magnetic small-scale robot (microrobot) within a relatively large working area using a triad of electromagnetic coils (TEC). The TEC is a combination of three identical circular coils placed at the vertices of an equilateral t...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-03-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/13/3/416 |
| _version_ | 1827627614474338304 |
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| author | Hakjoon Lee Dongjun Lee Seungmun Jeon |
| author_facet | Hakjoon Lee Dongjun Lee Seungmun Jeon |
| author_sort | Hakjoon Lee |
| collection | DOAJ |
| description | This paper proposes an effective method to manipulate the 2D motions of a magnetic small-scale robot (microrobot) within a relatively large working area using a triad of electromagnetic coils (TEC). The TEC is a combination of three identical circular coils placed at the vertices of an equilateral triangle. Since it is geometrically compact and requires only three control variables (input currents), the TEC can be effectively used to generate various magnetic fields that can be used to maneuver various functional microrobots. In this paper, we established several equations to calculate the input currents of the TEC required to move a microrobot along a designated pathway effectively and precisely. We also constructed an experimental setup to demonstrate and validate the controlled motions of the microrobot using the proposed method. The results showed that the proposed method can effectively improve the TEC’s practical working area (region of interest) for manipulating the microrobot, which can possibly be applied to biomedical and biological applications, including minimally invasive surgery, targeted drug and cargo delivery, microfluidic control, etc. |
| first_indexed | 2024-03-09T13:17:33Z |
| format | Article |
| id | doaj.art-80f682de64ce442e9956c19015febeea |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-09T13:17:33Z |
| publishDate | 2022-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-80f682de64ce442e9956c19015febeea2023-11-30T21:33:51ZengMDPI AGMicromachines2072-666X2022-03-0113341610.3390/mi13030416A Two-Dimensional Manipulation Method for a Magnetic Microrobot with a Large Region of Interest Using a Triad of Electromagnetic CoilsHakjoon Lee0Dongjun Lee1Seungmun Jeon2Department of Mechanical and Automotive Engineering, Kongju National University, Cheonan 31080, KoreaDepartment of Mechanical and Automotive Engineering, Kongju National University, Cheonan 31080, KoreaDepartment of Mechanical and Automotive Engineering, Kongju National University, Cheonan 31080, KoreaThis paper proposes an effective method to manipulate the 2D motions of a magnetic small-scale robot (microrobot) within a relatively large working area using a triad of electromagnetic coils (TEC). The TEC is a combination of three identical circular coils placed at the vertices of an equilateral triangle. Since it is geometrically compact and requires only three control variables (input currents), the TEC can be effectively used to generate various magnetic fields that can be used to maneuver various functional microrobots. In this paper, we established several equations to calculate the input currents of the TEC required to move a microrobot along a designated pathway effectively and precisely. We also constructed an experimental setup to demonstrate and validate the controlled motions of the microrobot using the proposed method. The results showed that the proposed method can effectively improve the TEC’s practical working area (region of interest) for manipulating the microrobot, which can possibly be applied to biomedical and biological applications, including minimally invasive surgery, targeted drug and cargo delivery, microfluidic control, etc.https://www.mdpi.com/2072-666X/13/3/416magnetic robotmagnetic navigation systemclosed-loop controlregion of interest |
| spellingShingle | Hakjoon Lee Dongjun Lee Seungmun Jeon A Two-Dimensional Manipulation Method for a Magnetic Microrobot with a Large Region of Interest Using a Triad of Electromagnetic Coils Micromachines magnetic robot magnetic navigation system closed-loop control region of interest |
| title | A Two-Dimensional Manipulation Method for a Magnetic Microrobot with a Large Region of Interest Using a Triad of Electromagnetic Coils |
| title_full | A Two-Dimensional Manipulation Method for a Magnetic Microrobot with a Large Region of Interest Using a Triad of Electromagnetic Coils |
| title_fullStr | A Two-Dimensional Manipulation Method for a Magnetic Microrobot with a Large Region of Interest Using a Triad of Electromagnetic Coils |
| title_full_unstemmed | A Two-Dimensional Manipulation Method for a Magnetic Microrobot with a Large Region of Interest Using a Triad of Electromagnetic Coils |
| title_short | A Two-Dimensional Manipulation Method for a Magnetic Microrobot with a Large Region of Interest Using a Triad of Electromagnetic Coils |
| title_sort | two dimensional manipulation method for a magnetic microrobot with a large region of interest using a triad of electromagnetic coils |
| topic | magnetic robot magnetic navigation system closed-loop control region of interest |
| url | https://www.mdpi.com/2072-666X/13/3/416 |
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