Work

OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation

Year: 2010

Type: article

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.

Source: IEEE Transactions on Robotics

DOI: 10.1109/tro.2010.2073030

Authors: Michael P. Kummer, Jake J. Abbott, Bradley E. Kratochvil, Ruedi Borer, Ali Sengul, Bradley J. Nelson

Institutions: ETH Zurich, Institute of Robotics and Intelligent Systems, University of Utah, École Polytechnique Fédérale de Lausanne

Language: English

Topic: Micro and Nano Robotics

Subfield: Condensed Matter Physics

Field: Physics and Astronomy

Domain: Physical Sciences

Open Access status: green

Funders: National Science Foundation, Inselspital, Universitätsspital Bern, Schweizerischer Nationalfonds zur Förderung der Wissenschaftlichen Forschung

OpenAlex ID: W2094904022

FWCI: 18.63

Cites: 45

Cited by: 1,190

Related to: 10