TY - GEN
T1 - RoboMag: A Magnetic Actuation System Based on Mobile Electromagnetic Coils with Tunable Working Space
AU - Du, Xingzhou
AU - Yang, Lidong
AU - Yu, Jiangfan
AU - Chan, Kai Fung
AU - Chiu, Philip Wai Yan
AU - Zhang, Li
N1 - Funding Information:
This research is financially supported by Innovation and Technology Fund (project number: MRP/036/18X).
Publisher Copyright:
© 2020 IEEE.
PY - 2020/12
Y1 - 2020/12
N2 - Magnetic field is regarded as a safe and efficient method for controlling minimally invasive medical robots remotely, and magnetic actuation system based on mobile electromagnetic coils are preferred due to the enlarged working space and fast response. Enhanced flexibility on coils' positions will further enable the system to deal with possible constraints inside the workspace, while design and control of such flexible systems remain challenging. In this work, a magnetic actuation system based on three mobile electromagnetic coils with decoupled movements is designed and the performance is demonstrated. The system consists of three 4-axis robotic arms that can adjust the relative positions of three mobile coils independently. The prototype of RoboMag is designed and able to program magnetic field at a required point inside a hemispherical space with a diameter of 152 mm. A method to drive the mobile-electromagnetic-coil-based systems with flexible movements is proposed. To begin with, a model of the robotic platform is built to place the coils to demanded position. A numerical model of a single coil is constructed and average error of magnetic field is reduced to 3.30% after calibration. Afterwards, a method based on coordinate transformation is proposed for the entire system to produce demanded magnetic torque and force at a required position. Experiments are conducted to demonstrate the system's capability on generating magnetic torque and force to actuate medical device analog.
AB - Magnetic field is regarded as a safe and efficient method for controlling minimally invasive medical robots remotely, and magnetic actuation system based on mobile electromagnetic coils are preferred due to the enlarged working space and fast response. Enhanced flexibility on coils' positions will further enable the system to deal with possible constraints inside the workspace, while design and control of such flexible systems remain challenging. In this work, a magnetic actuation system based on three mobile electromagnetic coils with decoupled movements is designed and the performance is demonstrated. The system consists of three 4-axis robotic arms that can adjust the relative positions of three mobile coils independently. The prototype of RoboMag is designed and able to program magnetic field at a required point inside a hemispherical space with a diameter of 152 mm. A method to drive the mobile-electromagnetic-coil-based systems with flexible movements is proposed. To begin with, a model of the robotic platform is built to place the coils to demanded position. A numerical model of a single coil is constructed and average error of magnetic field is reduced to 3.30% after calibration. Afterwards, a method based on coordinate transformation is proposed for the entire system to produce demanded magnetic torque and force at a required position. Experiments are conducted to demonstrate the system's capability on generating magnetic torque and force to actuate medical device analog.
UR - http://www.scopus.com/inward/record.url?scp=85092607658&partnerID=8YFLogxK
U2 - 10.1109/ICARM49381.2020.9195280
DO - 10.1109/ICARM49381.2020.9195280
M3 - Conference article published in proceeding or book
AN - SCOPUS:85092607658
T3 - ICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics
SP - 125
EP - 131
BT - ICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2020
Y2 - 18 December 2020 through 21 December 2020
ER -