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OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation
Open accessAbstract
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.
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Cites
Toward active tremor canceling in handheld microsurgical instruments
Riviere, C. N., Ang, W. T., & Khosla, P. K. (2003) · IEEE Transactions on Robotics and Automation · doi:10.1109/tra.2003.817506 · Cited by 245
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Hu, W., Lum, G. Z., Mastrangeli, M., & Sitti, M. (2018) · Nature · doi:10.1038/nature25443 · Cited by 2,372
Soft Actuators for Small-Scale Robotics
Hines, L., Petersen, K., Lum, G. Z., & Sitti, M. (2017) · Advanced Materials · doi:10.1002/adma.201603483 · Cited by 1,337
Ferromagnetic soft continuum robots
Kim, Y., Parada, G. A., Liu, S., & Zhao, X. (2019) · Science Robotics · doi:10.1126/scirobotics.aax7329 · Cited by 1,312
Biomedical Applications of Untethered Mobile Milli/Microrobots
Sitti, M., Ceylan, H., Hu, W., Giltinan, J., Turan, M., Yim, S., & Diller, E. (2015) · Proceedings of the IEEE · doi:10.1109/jproc.2014.2385105 · Cited by 893
Bio-inspired magnetic swimming microrobots for biomedical applications
Peyer, K. E., Zhang, L., & Nelson, B. J. (2013) · Nanoscale · doi:10.1039/c2nr32554c · Cited by 820
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Metadata
- Authors
- Kummer, M. P., Abbott, J. J., Kratochvil, B. E., Borer, R., Sengul, A., & Nelson, B. J.
- Venue
- IEEE Transactions on Robotics
- Published
- 2010-12
- Volume
- 26
- Issue
- 6
- Pages
- 1006-1017
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W2094904022
- Cited by
- 1,161
- References
- 1
- FWCI
- 25.01
- Type
- journal article
- Language
- en
- Open access
- green
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- Kummer, M. P., Abbott, J. J., Kratochvil, B. E., Borer, R., Sengul, A., & Nelson, B. J. (2010). OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation. IEEE Transactions on Robotics. https://doi.org/10.1109/tro.2010.2073030
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