Electromagnetic Manipulation System for Semi-Autonomous Control of Small-Scale Magnetic Objects With Sequential Programming
In this study, an electromagnetic coil system was developed for semi-autonomous manipulation of microrobots in three-dimensional (3D) space with sequential programming. Cylindrical-shaped cores were used for the electromagnetic coils; the coils were arranged in a hemispherical configuration to allow...
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10092743/ |
| _version_ | 1797847384014716928 |
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| author | Nader Latifi Gharamaleki Junsun Hwang Awais Ahmed Sarmad Ahmad Abbasi Soo-Il Kim Jin-Young Kim Hongsoo Choi |
| author_facet | Nader Latifi Gharamaleki Junsun Hwang Awais Ahmed Sarmad Ahmad Abbasi Soo-Il Kim Jin-Young Kim Hongsoo Choi |
| author_sort | Nader Latifi Gharamaleki |
| collection | DOAJ |
| description | In this study, an electromagnetic coil system was developed for semi-autonomous manipulation of microrobots in three-dimensional (3D) space with sequential programming. Cylindrical-shaped cores were used for the electromagnetic coils; the coils were arranged in a hemispherical configuration to allow open access to the workspace for imaging tools. The system consisted of four main parts: the electromagnetic coils, an electronic control unit, optical cameras, and a direct-manipulation graphical user interface (GUI). The system was capable of producing a magnetic field of up to 18 mT with a maximum current of 8 A current. Using this system, magnetic force and torque can be applied for semi-autonomous manipulation of magnetic objects, with different time intervals, by instantly inputting the required fields and gradients via the GUI. Sequential programming of the magnetic field allowed for better controllability and enhanced the repeatability of the system. The versatility of the system was demonstrated by moving a magnetic guidewire, micromagnet, and nanoparticles to their intended targets to assess the potential application of the system in biomedical fields. |
| first_indexed | 2024-04-09T18:10:32Z |
| format | Article |
| id | doaj.art-c5989d27994e4aab86096237af21dfc8 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-09T18:10:32Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-c5989d27994e4aab86096237af21dfc82023-04-13T23:00:39ZengIEEEIEEE Access2169-35362023-01-0111353273533510.1109/ACCESS.2023.326446410092743Electromagnetic Manipulation System for Semi-Autonomous Control of Small-Scale Magnetic Objects With Sequential ProgrammingNader Latifi Gharamaleki0https://orcid.org/0000-0001-5278-8117Junsun Hwang1https://orcid.org/0000-0002-6524-8379Awais Ahmed2https://orcid.org/0000-0001-6917-8657Sarmad Ahmad Abbasi3https://orcid.org/0000-0003-4341-8311Soo-Il Kim4Jin-Young Kim5https://orcid.org/0000-0003-4121-0437Hongsoo Choi6https://orcid.org/0000-0003-3613-2833Department of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South KoreaDepartment of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South KoreaDepartment of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South KoreaDepartment of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South KoreaDepartment of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South KoreaDepartment of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South KoreaDepartment of Robotics and Mechatronics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South KoreaIn this study, an electromagnetic coil system was developed for semi-autonomous manipulation of microrobots in three-dimensional (3D) space with sequential programming. Cylindrical-shaped cores were used for the electromagnetic coils; the coils were arranged in a hemispherical configuration to allow open access to the workspace for imaging tools. The system consisted of four main parts: the electromagnetic coils, an electronic control unit, optical cameras, and a direct-manipulation graphical user interface (GUI). The system was capable of producing a magnetic field of up to 18 mT with a maximum current of 8 A current. Using this system, magnetic force and torque can be applied for semi-autonomous manipulation of magnetic objects, with different time intervals, by instantly inputting the required fields and gradients via the GUI. Sequential programming of the magnetic field allowed for better controllability and enhanced the repeatability of the system. The versatility of the system was demonstrated by moving a magnetic guidewire, micromagnet, and nanoparticles to their intended targets to assess the potential application of the system in biomedical fields.https://ieeexplore.ieee.org/document/10092743/Magnetic field control systemguidewiremicrorobotnanoparticlessequential programming |
| spellingShingle | Nader Latifi Gharamaleki Junsun Hwang Awais Ahmed Sarmad Ahmad Abbasi Soo-Il Kim Jin-Young Kim Hongsoo Choi Electromagnetic Manipulation System for Semi-Autonomous Control of Small-Scale Magnetic Objects With Sequential Programming IEEE Access Magnetic field control system guidewire microrobot nanoparticles sequential programming |
| title | Electromagnetic Manipulation System for Semi-Autonomous Control of Small-Scale Magnetic Objects With Sequential Programming |
| title_full | Electromagnetic Manipulation System for Semi-Autonomous Control of Small-Scale Magnetic Objects With Sequential Programming |
| title_fullStr | Electromagnetic Manipulation System for Semi-Autonomous Control of Small-Scale Magnetic Objects With Sequential Programming |
| title_full_unstemmed | Electromagnetic Manipulation System for Semi-Autonomous Control of Small-Scale Magnetic Objects With Sequential Programming |
| title_short | Electromagnetic Manipulation System for Semi-Autonomous Control of Small-Scale Magnetic Objects With Sequential Programming |
| title_sort | electromagnetic manipulation system for semi autonomous control of small scale magnetic objects with sequential programming |
| topic | Magnetic field control system guidewire microrobot nanoparticles sequential programming |
| url | https://ieeexplore.ieee.org/document/10092743/ |
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