Wireless magnetic-based control of paramagnetic microparticles

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    Abstract

    This work investigates modeling and control of microparticles that could be guided inside the human body using external magnetic fields. Proposed areas of applications for these microparticles include but not limited to minimally invasive surgeries, diagnosis and sensing. The problem is formulated by modeling a magnetic prototype system which has been developed for the purpose of wireless motion control of microparticles. A control system is devised based on the way-point approach to control the navigation of the microparticles in a fluid. In addition, a path planning procedure based on a combination of the potential field and the A* approaches is investigated in order to control the motion of the microparticles in the presence of static and dynamic obstacles. The experimental verification is conducted on a magnetic system designed for manipulation of microparticles. The experimental results demonstrates the motion control of microparticles with maximum steady state position tracking error of 8.6 μm within a 2.4 mm×1.8 mm workspace.
    Original languageEnglish
    Title of host publicationProceedings of The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012
    EditorsI.S.M. Khalil
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages460-466
    Number of pages7
    ISBN (Print)978-1-4577-1198-5
    DOIs
    Publication statusPublished - 24 Jun 2012
    Event4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - TBD, Rome, Italy
    Duration: 24 Jun 201227 Jun 2012
    Conference number: 4

    Conference

    Conference4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
    Abbreviated titleBioRob
    CountryItaly
    CityRome
    Period24/06/1227/06/12

    Keywords

    • METIS-289663
    • IR-82104
    • EWI-22137
    • Control
    • microrobots
    • Magnetic

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  • Cite this

    Keuning, J. D., Abelmann, L., & Misra, S. (2012). Wireless magnetic-based control of paramagnetic microparticles. In I. S. M. Khalil (Ed.), Proceedings of The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012 (pp. 460-466). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/BioRob.2012.6290856