Performance Metrics for a Robotic Actuation System Using Static and Mobile Electromagnets

Ruipeng Chen; David Folio; Antoine Ferreira

doi:10.1109/ICRA.2019.8794092

Abstract

Wireless magnetic microrobots can perform complex tasks for small-scale minimally invasive surgery (MIS) that requires high precision and dexterity. The choice of the configuration of the electromagnetic actuation (EMA) system is a key issue for reliable medical applications. This paper addresses the study of a robotic EMA platform firstly devoted to ophthalmic MIS, aiming at improving the manipulability and dexterity of the procedure. To this end, a robotic EMA system comprising four static and four mobile electromagnets is investigated. Evaluation of the magnetic force and torque, the manipulability and the dexterity indexes of EMA platforms are studied. The results demonstrate that a robotic EMA platform increases the versatility of the EMA system, and becomes resourceful to perform various tasks.

Keywords: Coils, dexterity indexes, electromagnetic actuation system, electromagnetic actuators, performance metrics,

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Citation

BibTeX citation:

@inproceedings{chen2019,
  author = {Chen, Ruipeng and Folio, David and Ferreira, Antoine},
  publisher = {IEEE},
  title = {Performance {Metrics} for a {Robotic} {Actuation} {System}
    {Using} {Static} and {Mobile} {Electromagnets}},
  booktitle = {International Conference on Robotics and Automation
    (ICRA’2019)},
  pages = {2474-2480},
  date = {2019-08-12},
  eventdate = {2019-05-20/2019-05-24},
  url = {https://dfolio.fr/publications/conferences/2019chenICRA.html},
  doi = {10.1109/ICRA.2019.8794092},
  langid = {en},
  abstract = {Wireless magnetic microrobots can perform complex tasks
    for small-scale minimally invasive surgery (MIS) that requires high
    precision and dexterity. The choice of the configuration of the
    electromagnetic actuation (EMA) system is a key issue for reliable
    medical applications. This paper addresses the study of a robotic
    EMA platform firstly devoted to ophthalmic MIS, aiming at improving
    the manipulability and dexterity of the procedure. To this end, a
    robotic EMA system comprising four static and four mobile
    electromagnets is investigated. Evaluation of the magnetic force and
    torque, the manipulability and the dexterity indexes of EMA
    platforms are studied. The results demonstrate that a robotic EMA
    platform increases the versatility of the EMA system, and becomes
    resourceful to perform various tasks.}
}

For attribution, please cite this work as:

Chen R., Folio D., and Ferreira A., “Performance Metrics for a Robotic Actuation System Using Static and Mobile Electromagnets,” in International Conference on Robotics and Automation (ICRA’2019), Montreal, QC, Canada, 2019, pp. 2474–2480 [Online]. Available: https://dfolio.fr/publications/conferences/2019chenICRA.html