TY - GEN
T1 - Hybrid Magnetic Force and Torque Actuation of Miniature Helical Robots Using Mobile Coils to Accelerate Blood Clot Removal
AU - Yang, Lidong
AU - Zhang, Moqiu
AU - Yang, Haojin
AU - Yang, Zhengxin
AU - Zhang, Li
N1 - Funding Information:
This work was supported by the Hong Kong RGC project JLFS/E-402/18, the ITF project with Project No. MRP/036/18X, the Croucher Foundation Grant with Ref. No. CAS20403 and the CUHK internal grants. We thank the support from Multi-scale Medical Robotics Center (MRC), InnoHK at the Hong Kong Science Park, and the SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems. L.Z. would also like to thank the funding support from Peter Hung Pain Research Institute (PHPRI Project #8423004) at CUHK.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/9
Y1 - 2021/9
N2 - Mechanical rubbing of blood clot using miniature magnetic helical robots is a potential way for thrombolysis. In this paper, we report a new strategy for this issue based on mobile coils. Previously, we proposed the concept of magnetic actuation with parallel mobile coils, in which multiple coils can move in 3D space. Enabled by mobility of the coils, additional degree-of-freedom (DOF) could be utilized for actuation performance optimization. Besides the primary helical propulsion by rotating magnetic fields, our strategy aims to optimize the coil motion to make the magnetic force contributes the most to the helical robot forward motion. For this goal, modeling of the magnetic field and force of multiple mobile coils are presented, based on which an optimization algorithm is formulated to output the best coil motion. For validation, an enhanced mobile coil system having a workspace of Φ500 mm ×150 mm is constructed based on the parallel mobile coil concept. Simulations show the effectiveness of the proposed strategy, whose effective workspace for a specific task can also be obtained. After implementing the proposed strategy, preliminary experiments using clot analog demonstrate that the removal speed is accelerated over 50% compared to that without coil motion optimization.
AB - Mechanical rubbing of blood clot using miniature magnetic helical robots is a potential way for thrombolysis. In this paper, we report a new strategy for this issue based on mobile coils. Previously, we proposed the concept of magnetic actuation with parallel mobile coils, in which multiple coils can move in 3D space. Enabled by mobility of the coils, additional degree-of-freedom (DOF) could be utilized for actuation performance optimization. Besides the primary helical propulsion by rotating magnetic fields, our strategy aims to optimize the coil motion to make the magnetic force contributes the most to the helical robot forward motion. For this goal, modeling of the magnetic field and force of multiple mobile coils are presented, based on which an optimization algorithm is formulated to output the best coil motion. For validation, an enhanced mobile coil system having a workspace of Φ500 mm ×150 mm is constructed based on the parallel mobile coil concept. Simulations show the effectiveness of the proposed strategy, whose effective workspace for a specific task can also be obtained. After implementing the proposed strategy, preliminary experiments using clot analog demonstrate that the removal speed is accelerated over 50% compared to that without coil motion optimization.
KW - Coils
KW - Torque
KW - ds Coils , Torque , Three-dimensional displays
KW - Magnetic forces
KW - Coagulation
KW - Propulsion
KW - Magnetic fields
UR - http://www.scopus.com/inward/record.url?scp=85124347223&partnerID=8YFLogxK
U2 - 10.1109/IROS51168.2021.9636851
DO - 10.1109/IROS51168.2021.9636851
M3 - Conference article published in proceeding or book
AN - SCOPUS:85124347223
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 7476
EP - 7482
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Y2 - 27 September 2021 through 1 October 2021
ER -