Acknowledgment
The funding scheme is Chinese Scholarship Council.
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Citation
@article{chen2021,
author = {Chen, Ruipeng and Folio, David and Ferreira, Antoine},
publisher = {Elsevier BV},
title = {Mathematical {Approach} for the {Design} {Configuration} of
{Magnetic} {System} with {Multiple} {Electromagnets}},
journal = {Robotics and Autonomous Systems},
volume = {135},
date = {2021-01-01},
url = {https://dfolio.fr/publications/articles/2020chenRAS.html},
doi = {10.1016/j.robot.2020.103674},
issn = {0921-8890},
langid = {en},
abstract = {Magnetic actuation techniques and microrobots have
attracted great interest since they have potential in biomedicine
applications. Interventional techniques have emerged as a tool to
handle a wide range of minimally invasive surgeries (MIS). However,
current MIS procedures are constrained by the limitation of manual
operation by surgeon. Thus, various microrobotic solutions including
magnetic navigation systems have been proposed for MIS, which
carries many potential benefits such as reduced incision, less
intraoperative hemorrhaging and postoperative pain, and faster
recovery time. In recent decades, many electromagnetic actuation
(EMA) systems have been reported and involved to general surgery.
The EMA system allows to generate efficiently magnetic source for
microrobot control when its specifications are further investigated
and satisfied for the desired application. To precisely manipulate
the biomedical microrobot, a key issue still relies on the design of
a suitable EMA platform. In this paper, we demonstrate a
mathematical approach for the design configuration of magnetic
system with multiple electromagnets. Especially, the required
magnetic coil number has been investigated where the heading motion
control, magnetic force control and their combination control are
discussed respectively. The singular cases of control are
pre-evaluated by a mathematical analysis of the simulated
electromagnetic field. In addition, the placed positions and tilted
orientations of the applied electromagnets are investigated for the
optimization regarding the six typical configurations of EMA
platform with 4, 6 and 8 coils. The various configurations of EMA
systems have been comprehensively analyzed. Therefore, with the
number of electromagnets and their optimal configuration obtained by
the proposed approach, the EMA system can be initially established.}
}