Title :
OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation
Author :
Kummer, Michael P. ; Abbott, Jake J. ; Kratochvil, Bradley E. ; Borer, Ruedi ; Sengul, Ali ; Nelson, Bradley J.
Author_Institution :
Inst. of Robot. & Intell. Syst., ETH Zurich, Zurich, Switzerland
Abstract :
We demonstrate five-degree-of-freedom (5-DOF) wireless magnetic control of a fully untethered microrobot (3-DOF position and 2-DOF pointing orientation). The microrobot can move through a large workspace and is completely unrestrained in the rotation DOF. We accomplish this level of wireless control with an electromagnetic system that we call OctoMag. OctoMag´s unique abilities are due to its utilization of complex nonuniform magnetic fields, which capitalizes on a linear representation of the coupled field contributions of multiple soft-magnetic-core electromagnets acting in concert. OctoMag was primarily designed to control intraocular microrobots for delicate retinal procedures, but it also has potential uses in other medical applications or micromanipulation under an optical microscope.
Keywords :
electromagnets; magnetic fields; micromanipulators; optical microscopes; soft magnetic materials; 5-DOF wireless micromanipulation; OctoMag; complex nonuniform magnetic fields; coupled field; electromagnetic system; five-degree-of-freedom; intraocular microrobots; linear representation; optical microscope; soft-magnetic-core electromagnets; untethered microrobot; wireless control; Electromagnets; Magnetic levitation; Magnetic noise; Magnetic resonance imaging; Microrobots; Surgery; Wireless communication; Magnetic; medical; micromanipulator; microrobot; minimally invasive surgery; untethered; wireless;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2010.2073030
