Positioning of drug carriers using permanent magnet-based robotic system in three-dimensional space

Islam S.M. Khalil; Abdelrahman Alfar; Ahmet Fatih Tabak; Anke Klingner; Stefano Stramigioli; Metin Sitti

doi:10.1109/AIM.2017.8014168

Positioning of drug carriers using permanent magnet-based robotic system in three-dimensional space

Islam S.M. Khalil, Abdelrahman Alfar, Ahmet Fatih Tabak, Anke Klingner, Stefano Stramigioli, Metin Sitti

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

7 Citations (Scopus)

1 Downloads (Pure)

Abstract

Magnetic control of drug carriers using systems with open-configurations is essential to enable scaling to the size of in vivo applications. In this study, we demonstrate motion control of paramagnetic microparticles in a low Reynolds number fluid, using a permanent magnet-based robotic system with an open-configuration. The microparticles are controlled in three-dimensional (3D) space using a cylindrical NdFeB magnet that is fixed to the end-effector of a robotic arm. We develop a kinematic map between the position of the microparticles and the configuration of the robotic arm, and use this map as a basis of a closed-loop control system based on the position of the microparticles. Our experimental results show the ability of the robot configuration to control the exerted field gradient on the dipole of the microparticles, and achieve positioning in 3D space with maximum error of 300 μm and 600 μm in the steady-state during setpoint and trajectory tracking, respectively.

Original language	English
Title of host publication	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Publisher	IEEE
Pages	1117-1122
Number of pages	6
ISBN (Electronic)	9781509059980
DOIs	https://doi.org/10.1109/AIM.2017.8014168
Publication status	Published - 21 Aug 2017
Externally published	Yes
Event	IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Sheraton Arabella Park Hotel, Munich, Germany Duration: 3 Jul 2017 → 7 Jul 2017

Conference

Conference	IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Abbreviated title	AIM 2017
Country/Territory	Germany
City	Munich
Period	3/07/17 → 7/07/17

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10.1109/AIM.2017.8014168

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title = "Positioning of drug carriers using permanent magnet-based robotic system in three-dimensional space",

abstract = "Magnetic control of drug carriers using systems with open-configurations is essential to enable scaling to the size of in vivo applications. In this study, we demonstrate motion control of paramagnetic microparticles in a low Reynolds number fluid, using a permanent magnet-based robotic system with an open-configuration. The microparticles are controlled in three-dimensional (3D) space using a cylindrical NdFeB magnet that is fixed to the end-effector of a robotic arm. We develop a kinematic map between the position of the microparticles and the configuration of the robotic arm, and use this map as a basis of a closed-loop control system based on the position of the microparticles. Our experimental results show the ability of the robot configuration to control the exerted field gradient on the dipole of the microparticles, and achieve positioning in 3D space with maximum error of 300 μm and 600 μm in the steady-state during setpoint and trajectory tracking, respectively.",

author = "Khalil, {Islam S.M.} and Abdelrahman Alfar and Tabak, {Ahmet Fatih} and Anke Klingner and Stefano Stramigioli and Metin Sitti",

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doi = "10.1109/AIM.2017.8014168",

language = "English",

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booktitle = "2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017",

publisher = "IEEE",

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note = "IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, AIM 2017 ; Conference date: 03-07-2017 Through 07-07-2017",

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Khalil, ISM, Alfar, A, Tabak, AF, Klingner, A, Stramigioli, S & Sitti, M 2017, Positioning of drug carriers using permanent magnet-based robotic system in three-dimensional space. in 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017., 8014168, IEEE, pp. 1117-1122, IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, 3/07/17. https://doi.org/10.1109/AIM.2017.8014168

Positioning of drug carriers using permanent magnet-based robotic system in three-dimensional space. / Khalil, Islam S.M.; Alfar, Abdelrahman; Tabak, Ahmet Fatih et al.
2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. IEEE, 2017. p. 1117-1122 8014168.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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T1 - Positioning of drug carriers using permanent magnet-based robotic system in three-dimensional space

AU - Khalil, Islam S.M.

AU - Alfar, Abdelrahman

AU - Tabak, Ahmet Fatih

AU - Klingner, Anke

AU - Stramigioli, Stefano

AU - Sitti, Metin

PY - 2017/8/21

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N2 - Magnetic control of drug carriers using systems with open-configurations is essential to enable scaling to the size of in vivo applications. In this study, we demonstrate motion control of paramagnetic microparticles in a low Reynolds number fluid, using a permanent magnet-based robotic system with an open-configuration. The microparticles are controlled in three-dimensional (3D) space using a cylindrical NdFeB magnet that is fixed to the end-effector of a robotic arm. We develop a kinematic map between the position of the microparticles and the configuration of the robotic arm, and use this map as a basis of a closed-loop control system based on the position of the microparticles. Our experimental results show the ability of the robot configuration to control the exerted field gradient on the dipole of the microparticles, and achieve positioning in 3D space with maximum error of 300 μm and 600 μm in the steady-state during setpoint and trajectory tracking, respectively.

AB - Magnetic control of drug carriers using systems with open-configurations is essential to enable scaling to the size of in vivo applications. In this study, we demonstrate motion control of paramagnetic microparticles in a low Reynolds number fluid, using a permanent magnet-based robotic system with an open-configuration. The microparticles are controlled in three-dimensional (3D) space using a cylindrical NdFeB magnet that is fixed to the end-effector of a robotic arm. We develop a kinematic map between the position of the microparticles and the configuration of the robotic arm, and use this map as a basis of a closed-loop control system based on the position of the microparticles. Our experimental results show the ability of the robot configuration to control the exerted field gradient on the dipole of the microparticles, and achieve positioning in 3D space with maximum error of 300 μm and 600 μm in the steady-state during setpoint and trajectory tracking, respectively.

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Positioning of drug carriers using permanent magnet-based robotic system in three-dimensional space

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