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 proceedingConference contributionAcademicpeer-review

4 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 languageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PublisherIEEE
Pages1117-1122
Number of pages6
ISBN (Electronic)9781509059980
DOIs
Publication statusPublished - 21 Aug 2017
Externally publishedYes
EventIEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Sheraton Arabella Park Hotel, Munich, Germany
Duration: 3 Jul 20177 Jul 2017

Conference

ConferenceIEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Abbreviated titleAIM 2017
CountryGermany
CityMunich
Period3/07/177/07/17

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