Wireless magnetic-based control of paramagnetic microparticles

J.D. Keuning; Leon Abelmann; Sarthak Misra

doi:10.1109/BioRob.2012.6290856

Wireless magnetic-based control of paramagnetic microparticles

J.D. Keuning, Leon Abelmann, Sarthak Misra

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

34 Citations (Scopus)

83 Downloads (Pure)

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 language	English
Title of host publication	Proceedings of The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012
Editors	I.S.M. Khalil
Place of Publication	USA
Publisher	IEEE
Pages	460-466
Number of pages	7
ISBN (Print)	978-1-4577-1198-5
DOIs	https://doi.org/10.1109/BioRob.2012.6290856
Publication status	Published - 24 Jun 2012
Event	4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - TBD, Rome, Italy Duration: 24 Jun 2012 → 27 Jun 2012 Conference number: 4

Conference

Conference	4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Abbreviated title	BioRob
Country/Territory	Italy
City	Rome
Period	24/06/12 → 27/06/12

Keywords

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

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10.1109/BioRob.2012.6290856

Cite this

@inproceedings{a94fe5fc926544228ea20bf1a025e9fb,

title = "Wireless magnetic-based control of paramagnetic microparticles",

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.",

keywords = "METIS-289663, IR-82104, EWI-22137, Control, microrobots, Magnetic",

author = "J.D. Keuning and Leon Abelmann and Sarthak Misra",

year = "2012",

month = jun,

day = "24",

doi = "10.1109/BioRob.2012.6290856",

language = "English",

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pages = "460--466",

editor = "I.S.M. Khalil",

booktitle = "Proceedings of The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012",

publisher = "IEEE",

address = "United States",

note = "4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, BioRob ; Conference date: 24-06-2012 Through 27-06-2012",

}

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, 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, 2012. p. 460-466.

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

TY - GEN

T1 - Wireless magnetic-based control of paramagnetic microparticles

AU - Keuning, J.D.

AU - Abelmann, Leon

AU - Misra, Sarthak

N1 - Conference code: 4

PY - 2012/6/24

Y1 - 2012/6/24

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.

KW - METIS-289663

KW - IR-82104

KW - EWI-22137

KW - Control

KW - microrobots

KW - Magnetic

U2 - 10.1109/BioRob.2012.6290856

DO - 10.1109/BioRob.2012.6290856

M3 - Conference contribution

SN - 978-1-4577-1198-5

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EP - 466

BT - Proceedings of The Fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics 2012

A2 - Khalil, I.S.M.

PB - IEEE

CY - USA

T2 - 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012

Y2 - 24 June 2012 through 27 June 2012

ER -

Wireless magnetic-based control of paramagnetic microparticles

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