Wireless magnetic-based control of paramagnetic microparticles

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

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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

Fingerprint

Motion control
Motion planning
Surgery
Navigation
Magnetic fields
Control systems
Fluids

Keywords

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

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
Keuning, J.D. ; Abelmann, Leon ; Misra, Sarthak. / Wireless magnetic-based control of paramagnetic microparticles. Proceedings of The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012. editor / I.S.M. Khalil. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2012. pp. 460-466
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Keuning, JD, Abelmann, L & Misra, S 2012, Wireless magnetic-based control of paramagnetic microparticles. in ISM Khalil (ed.), Proceedings of The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012. IEEE ROBOTICS AND AUTOMATION SOCIETY, USA, pp. 460-466, 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, 24/06/12. https://doi.org/10.1109/BioRob.2012.6290856

Wireless magnetic-based control of paramagnetic microparticles. / Keuning, J.D.; Abelmann, Leon; Misra, Sarthak.

Proceedings of The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012. ed. / I.S.M. Khalil. USA : IEEE ROBOTICS AND AUTOMATION SOCIETY, 2012. p. 460-466.

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

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N2 - 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.

AB - 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.

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Keuning JD, Abelmann L, Misra S. Wireless magnetic-based control of paramagnetic microparticles. In Khalil ISM, editor, Proceedings of The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012. USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. 2012. p. 460-466 https://doi.org/10.1109/BioRob.2012.6290856