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Article: MINRob: A Large Force-Outputting Miniature Robot Based on a Triple-Magnet System

TitleMINRob: A Large Force-Outputting Miniature Robot Based on a Triple-Magnet System
Authors
KeywordsMagnetic collision
magnetic force
magnetic miniature robots
tissue penetration
triple-magnet system
Issue Date2024
Citation
IEEE Transactions on Robotics, 2024, v. 40, p. 3127-3145 How to Cite?
AbstractMagnetically actuated miniature robots are limited in their mechanical outputting capability, because the magnetic forces decrease significantly with decreasing robot size and increasing actuating distance. Hence, the output force of these robots can hardly meet the demand for specific biomedical applications (e.g., tissue penetration). This article proposes a tetherless magnetic impact needle robot (MINRob) based on a triple-magnet system with reversible and repeatable magnetic collisions to overcome this constraint on output force. The working procedure of the proposed system is divided into several states, and a mathematical model is developed to predict and optimize the force output. These force values in magnetic impact and penetration are obtained from a customized setup, indicating a ten-fold increase compared with existing miniature robots that only utilize magnetic attractive force. Eventually, the proposed MINRob is integrated with a teleoperation system, enabling remote and precise control of the robot's position and orientation. The triple-magnet system offers promising locomotion patterns and penetration capacity via the notably increased force output, showing great potential in robot-assisted tissue penetration in minimally invasive healthcare.
Persistent Identifierhttp://hdl.handle.net/10722/350077
ISSN
2023 Impact Factor: 9.4
2023 SCImago Journal Rankings: 3.669

 

DC FieldValueLanguage
dc.contributor.authorXiang, Yuxuan-
dc.contributor.authorLiu, Ruomao-
dc.contributor.authorWei, Zihan-
dc.contributor.authorWang, Xinliang-
dc.contributor.authorKang, Weida-
dc.contributor.authorWang, Min-
dc.contributor.authorLiu, Jun-
dc.contributor.authorLiang, Xudong-
dc.contributor.authorZhang, Jiachen-
dc.date.accessioned2024-10-17T07:02:55Z-
dc.date.available2024-10-17T07:02:55Z-
dc.date.issued2024-
dc.identifier.citationIEEE Transactions on Robotics, 2024, v. 40, p. 3127-3145-
dc.identifier.issn1552-3098-
dc.identifier.urihttp://hdl.handle.net/10722/350077-
dc.description.abstractMagnetically actuated miniature robots are limited in their mechanical outputting capability, because the magnetic forces decrease significantly with decreasing robot size and increasing actuating distance. Hence, the output force of these robots can hardly meet the demand for specific biomedical applications (e.g., tissue penetration). This article proposes a tetherless magnetic impact needle robot (MINRob) based on a triple-magnet system with reversible and repeatable magnetic collisions to overcome this constraint on output force. The working procedure of the proposed system is divided into several states, and a mathematical model is developed to predict and optimize the force output. These force values in magnetic impact and penetration are obtained from a customized setup, indicating a ten-fold increase compared with existing miniature robots that only utilize magnetic attractive force. Eventually, the proposed MINRob is integrated with a teleoperation system, enabling remote and precise control of the robot's position and orientation. The triple-magnet system offers promising locomotion patterns and penetration capacity via the notably increased force output, showing great potential in robot-assisted tissue penetration in minimally invasive healthcare.-
dc.languageeng-
dc.relation.ispartofIEEE Transactions on Robotics-
dc.subjectMagnetic collision-
dc.subjectmagnetic force-
dc.subjectmagnetic miniature robots-
dc.subjecttissue penetration-
dc.subjecttriple-magnet system-
dc.titleMINRob: A Large Force-Outputting Miniature Robot Based on a Triple-Magnet System-
dc.typeArticle-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/TRO.2024.3410096-
dc.identifier.scopuseid_2-s2.0-85195370622-
dc.identifier.volume40-
dc.identifier.spage3127-
dc.identifier.epage3145-
dc.identifier.eissn1941-0468-

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