TY - GEN
T1 - Two-dimensional locomotive permanent magnet using electromagnetic actuation system with two pairs stationary coils
AU - Choi, Jongho
AU - Choi, Hyunchul
AU - Cha, Kyoungrae
AU - Park, Jong Oh
AU - Park, Sukho
PY - 2009
Y1 - 2009
N2 - Two-dimensional electromagnetic actuation system (EMA) was developed to manipulate microrobot for the intravascular therapy. This system consists of two pairs of Helmholtz coils and Maxwell coils and a cylindrical type permanent magnet is used as a microrobot. It is verified that the microrobot can move without power line using electromagnetic field. We analyzed this locomotive mechanism of the microrobot using two-dimensional EMA system theoretically and validated the performance of the mechanism by various experiments. The position of the microrobot which is inside of region of interest (ROI) could be recognized by CCD camera. This position information is used for feedback signal, a simple proportional (P) controller is used for this EMA system. The final goal of this paper is to control the micro robot position precisely. Firstly, we demonstrate the autonomous locomotion of the microrobot along a predefined desired path. Secondly, we adopt an applicable joystick system as a master which the operators can use in a real operation and realize the path control of the microrobot.
AB - Two-dimensional electromagnetic actuation system (EMA) was developed to manipulate microrobot for the intravascular therapy. This system consists of two pairs of Helmholtz coils and Maxwell coils and a cylindrical type permanent magnet is used as a microrobot. It is verified that the microrobot can move without power line using electromagnetic field. We analyzed this locomotive mechanism of the microrobot using two-dimensional EMA system theoretically and validated the performance of the mechanism by various experiments. The position of the microrobot which is inside of region of interest (ROI) could be recognized by CCD camera. This position information is used for feedback signal, a simple proportional (P) controller is used for this EMA system. The final goal of this paper is to control the micro robot position precisely. Firstly, we demonstrate the autonomous locomotion of the microrobot along a predefined desired path. Secondly, we adopt an applicable joystick system as a master which the operators can use in a real operation and realize the path control of the microrobot.
UR - http://www.scopus.com/inward/record.url?scp=77951462570&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2009.5420841
DO - 10.1109/ROBIO.2009.5420841
M3 - Conference contribution
AN - SCOPUS:77951462570
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 1166
EP - 1171
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -