Enhanced locomotive and drilling microrobot using precessional and gradient magnetic field
Enhanced locomotive and drilling microrobot using precessional and gradient magnetic field
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DOI：
10.1016/j.sna.2011.08.020
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发表时间：
2011-11-01
影响因子：
4.6
通讯作者：
Park, Sukho
中科院分区：
文献类型：
--
作者：
Jeong, Semi;Choi, Hyunchul;Park, Sukho
提出了一种新型的微血管机器人电磁驱动(EMA)系统，该系统具有转向、运动和钻孔功能。EMA系统由3对亥姆霍兹线圈和1对麦克斯韦线圈组成。一般说来。亥姆霍兹线圈可以通过产生均匀的磁通量来使微型机器人在所需方向上对准。如果亥姆霍兹线圈产生的均匀磁场可以旋转，那么带有亥姆霍兹线圈的微型机器人也可以旋转。另一方面，麦克斯韦线圈可以产生恒定的梯度磁通，为微机器人提供推动力。由所提出的EMA系统驱动的微型机器人具有一个螺旋形体，其中包含两个不同磁化方向的磁体。利用所提出的EMA系统，微机器人可以通过亥姆霍兹线圈对的进动磁场移动到目标区域并在那里进行钻孔。微机器人的推力是由麦克斯韦线圈对产生的梯度磁场产生的。利用麦克斯韦线圈副的推进力，可以提高微机器人的运动速度和钻进性能。通过各种试验，验证了所提出的EMA系统驱动微机器人的可行性和增强性。(C)2011爱思唯尔B.V.保留所有权利。
We propose a new electromagnetic actuation (EMA) system for an intravascular microrobot with steering, locomotion and drilling functions. The EMA system consists of 3 pairs of Helmholtz coil and 1 pair of Maxwell coil. Generally. Helmholtz coils can align a microrobot in a desired direction by generating a uniform magnetic flux. If the uniform magnetic field generated by Helmholtz coils can be rotated, a microrobot with Helmholtz coils can also be rotated. On the other hand, a Maxwell coil, which generates a constant gradient magnetic flux, can supply the propulsion force for the microrobot. A microrobot actuated by the proposed EMA system has a spiral shaped body containing two magnets with different magnetization directions. With the proposed EMA system, the microrobot can move to the target region and perform drilling there by the precessional magnetic field of the Helmholtz coil pairs. The propulsion force for the microrobot is produced by the gradient magnetic field generated by the Maxwell coil pair. The moving velocity and the drilling performance of the microrobot can be increased by the propulsion force of the Maxwell coil pair. Through various tests, the feasibility and enhancement of the microrobot actuated by the proposed EMA system were verified. (C) 2011 Elsevier B.V. All rights reserved.