Control of magnetically-driven screws in a viscoelastic medium

Z. Zhang, A. Klinger, S. Misra, Islam S. M. Khalil

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Citations (Scopus)
127 Downloads (Pure)


Magnetically-driven screws operating in soft-tissue environments could be used to deploy localized therapy or achieve minimally invasive interventions. In this work, we characterize the closed-loop behavior of magnetic screws in an agar gel tissue phantom using a permanent magnet-based robotic system with an open-configuration. Our closed-loop control strategy capitalizes on an analytical calculation of the swimming speed of the screw in viscoelastic fluids and the magnetic point-dipole approximation of magnetic fields. The analytical solution is based on the Stokes/Oldroyd-B equations and its predictions are compared to experimental results at different actuation frequencies of the screw. Our measurements matches the theoretical prediction of the analytical model before the step-out frequency of the screw owing to the linearity of the analytical model. We demonstrate open-loop control in two-dimensional space, and point-to-point closed-loop motion control of the screw (length and diameter of 6 mm and 2 mm, respectively) with maximum positioning error of 1.8 mm.
Original languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ISBN (Electronic)978-1-7281-6212-6
Publication statusPublished - 10 Feb 2021
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020: Consumer Robotics and Our Future - On-Demand Conference, Las Vegas, United States
Duration: 25 Oct 202025 Nov 2020


ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Abbreviated titleIROS 2020
Country/TerritoryUnited States
CityLas Vegas
Internet address


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