Managing the attractive magnetic force between an untethered magnetically actuated tool and a rotating permanent magnet

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2013, Pages 5366-5371

  Mahoney, Arthur W ^a   Wright, Samuel E ^a   Abbott, Jake J ^a  

^a University of Utah   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ATTRACTIVE FORCE; CAPSULE ENDOSCOPES; EXPERIMENTAL DEMONSTRATIONS; MAGNETIC FORCE; MAGNETIC MICROROBOTS; MAGNETIC TORQUES; MANAGEMENT STRATEGIES; MINIMALLY INVASIVE;

MEDICAL APPLICATIONS; PERMANENT MAGNETS; TOOLS; TORQUE;

ROBOTICS;

EID: 84887275526     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2013.6631346     Document Type: Conference Paper

References (14)

1. B.J.Nelson, I.K.Kaliakatsos, and J.J.Abbott, "Microrobots for minimally invasive medicine," Annu.Rev.Biomed.Eng., vol.12, pp.55-85, 2010
2. J.L.Toennies, G.Tortora, M.Simi, P.Valdastri, and R.J.Webster III, "Swallowable medical devices for diagnosis and surgery: the state of the art," J.Mech.Eng.Sci., vol.224, no.7, pp.1397-1414, 2010.
3. M.P.Kummer, J.J.Abbott, B.E.Kratochvil, R.Borer, A.Sengul, and B.J.Nelson, "Octomag: An electromagnetic systems for 5-DOF wireless micromanipulation," IEEE Trans.Robot., vol.26, no.6, pp.1006-1017, 2010.
4. G.Ciuti, P.Valdastri, A.Menciassi, and P.Dario, "Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures," Robotica, vol.28, no.2, pp.199-207, 2010.
5. T.W.R.Fountain, P.V.Kailat, and J.J.Abbott, "Wireless control of magnetic helical microrobots using a rotating-permanent-magnet manipulator," in Proc.IEEE Int.Conf.Robotics and Automation, 2010, pp.576-581.
6. A.W.Mahoney and J.J.Abbott, "Managing magnetic force applied to a magnetic device by a rotating dipole field," Appl.Phys.Lett., vol.99, no.134103, pp.1-3, 2011.
7. A.W.Mahoney, D.L.Cowan, K.M.Miller, and J.J.Abbott, "Control of untethered magnetically actuated tools using a rotating permanent magnet in any position," in Proc.IEEE Int.Conf.Robotics and Automation, 2012, pp.3375-3380.
8. S.Yim and M.Sitti, "Design and rolling locomotion of a magnetically actuated soft capsule endoscope," IEEE Trans.Robot., vol.28, no.1, pp.183-194, 2012.
9. G.Lien, C.Liu, J.Jiang, C.Chuang, and M.Teng, "Magnetic control system targeted for capsule endoscopic operations in the stomach: Design, fabrication, and in vitro and ex vivo evaluations," IEEE Trans.Biomed.Eng., vol.59, no.7, pp.2068-2079, 2012.
10. M.T.Hou, H.-M.Shen, G.-L.Jiang, C.-N.Lu, I.-J.Hsu, and J.A.Yeh, "A rolling locomotion method for untethered magnetic microrobots," Appl.Phys.Lett., vol.96, no.024102, pp.1-3, 2010.
11. H.Keller, A.Juloski, H.Kawano, M.Bechtold, A.Kimura, H.Takizawa, and R.Kuth, "Method for navigation and control of a magnetically guided capsule endoscope in the human stomach," in IEEE Int.Conf.Biomedical Robotics and Biomechatronics, 2012, pp.859-865.
12. A.J.Petruska and J.J.Abbott, "Optimal permanent-magnet geometries for dipole field approximation," IEEE Trans.Magn., vol.49, no.2, pp.811-819, 2013.
13. K.Ikeuchi, K.Yoshinaka, and N.Tomita, "Low invasive propulsion of medical devices by traction using mucus," Wear, vol.209, pp.179-183, 1997.
14. K.M.Miller, A.W.Mahoney, T.Schmid, and J.J.Abbott, "Proprioceptive magnetic-field sensing for closed-loop control of magnetic capsule endoscopes," in IEEE/RSJ Int.Conf.Intelligent Robots and Systems, 2012, pp.1994-1999.