In remote magnetic navigation, a magnetic navigation system is used to generate magnetic fields to apply mechanical wrenches to steer a magnetic object. This technique can be applied to navigate untethered micro- and nanorobots, as well as tethered magnetic surgical tools for minimally invasive medicine. The design and characterization of these systems have been extensively investigated over the past decade. The determination of the region in space in which these systems can operate has yet to be formalized within the research community. This region is commonly referred to as the “workspace” and constitutes a central concept for any class of robotic system. We focus on magnetic navigation systems comprised of electromagnets and propose a first set of definitions for a magnetic workspace, a methodology to determine it, and evaluation metrics to analyze its characteristics. Our methodology and tools are illustrated with several examples of planar and spatial electromagnetic magnetic navigation systems for both didactic and realistic navigation scenarios. 

/pdf/on-the-workspace-of-electromagnetic-navigation-systems-2vhjqjxe.pdf

On the Workspace of Electromagnetic Navigation Systems

Magnetic microrobots are propelled by magnetic fields or magnetic field gradients generated by electromagnetic systems. Generally, 3D Helmholtz coils systems are used for microrobot propulsion, because of their low power consumption, ease of manufacture, and ease of control, for which, only three power supplies are required. Systems of this kind can only generate uniform magnetic fields, which limits their range of applications. However, generating both uniform magnetic fields and gradients typically requires more coils and power supplies, resulting in large expensive energy-intensive systems with complicated control algorithms. Although the aforementioned systems can control magnetic robots with up to 6 degrees of freedom (DOFs), most existing applications at the micro/nanoscale only require 2 rotational DOFs and 1 translational DOF. Here, we propose a new control system capable of producing 3D uniform magnetic fields with 3 DOFs and 3D gradients with 1 DOF. With this system, one pair of coils in a traditional 3D Helmholtz coil system is modified, to enable independent control of the individual coils directing a selected axis, while the configuration of the remaining two pairs of coils is unchanged. This results in a control system with low power consumption, and a simple control algorithm that can be easily applied to existing 3D Helmholtz systems, as it only requires the addition of a power supply. In combination with the developed system, we also propose a new control algorithm applicable to both permanently and temporarily magnetized microrobots, and verify this experimentally.

/pdf/magnetic-force-propelled-3d-locomotion-control-for-magnetic-2b9xesnbr1.pdf

Magnetic Force-Propelled 3D Locomotion Control for Magnetic Microrobots via Simple Modified Three-Axis Helmholtz Coil System

Untethered robots of the size of a few microns have attracted increasing attention for the potential to transform many aspects of manufacturing, medicine, health care, and bioengineering. Previously impenetrable environments have become available for high-resolution in situ and in vivo manipulations as the size of the untethered robots goes down to the microscale. Nevertheless, the independent navigation of several robots at the microscale is challenging as they cannot have onboard transducers, batteries, and control like other multi-agent systems, due to the size limitations. Therefore, various unconventional propulsion mechanisms have been explored to power motion at the nanoscale. Moreover, a variety of combinations of actuation methods has also been extensively studied to tackle different issues. In this survey, we present a thorough review of the recent developments of various dedicated ways to actuate and control multistimuli-enabled microrobots. We have also discussed existing challenges and evolving concepts associated with each technique.

Multistimuli-responsive microrobots: A comprehensive review

Electromagnetic actuation represents a novel wireless control approach utilized for the manipulation of magnetic microrobots, particularly in the context of diverse minimally invasive therapeutic applications. This study presented contributions relating to the integration of a human operator into the control system of an electromagnetic actuation framework through haptic assistance. The intervention of a human operator serves multiple purposes, encompassing the safe piloting of the microrobot during the procedure and the utilization of the doctor’s expertise. Consequently, this human-in-the-loop approach not only ensures heightened safety but also enhances public acceptability, particularly in the realm of drug delivery within the human body. To facilitate these objectives, a haptic device was proposed to propel and orient the microrobots within blood vessels, thereby enabling their targeted delivery. Additionally, a novel magnetic guidance strategy was introduced, relying on the utilization of two magnetic forces to simplify and optimize the guidance process. The electromagnetic actuation system, developed in our research laboratory, offers a comprehensive workspace that has been obtained through analytical and quantitative modeling of the magnetic field generated by the system. With an accessible workspace encompassing a cubic volume of 70 mm in length, the system facilitates easy access from all four lateral sides. Such an architectural design allows for efficient manipulation of microparticles within a significantly larger 3D workspace, surpassing the limitations imposed by traditional systems primarily confined to a small central area, as observed in existing literature. Experimental evaluations encompassing both 2D and 3D scenarios were conducted to validate the efficacy of the magnetic navigation platform.

Tele-Guidance of a Soft Magnetic Microrobot Transported by a Fluid in a Vascular Network

Guiding magnetic particles through the cochlear canal in the human anatomy presents a challenge for disease treatment. Having the particularity of being operated remotely, magnetic particles are innovative solutions. However, the use of hard microrobots and the complexity of navigation in automatic mode present a real obstacle to the integration of these methods in the medical field. Faced with this, the choice of the actuation mode, the type of microrobot and the navigation strategy are therefore of paramount importance for guidance and navigation in the cochlear canal. For this, we have developed in this work a strategy of navigation and control of soft magnetic microrobot (biocompatible) using haptic assistance allowing to give all the control to the doctor. The navigation strategy is tested in an insilico model based on the finite element method, then we use a human scale artificial cochlea to demonstrate the effectiveness of this strategy and the interest of integrating the doctor into the control loop. 

Soft ferromagnetic microrobot navigation in the cochlea using haptic assistance

Electromagnetic actuation is a new wireless control approach for the manipulation of magnetic microparticles for various minimally invasive therapies. This article presents an optimal electromagnetic actuation system with an enlarged and accessible workspace, which is obtained by analytical and quantitative modeling of the generated magnetic field of the system. Quantitative modeling aims to characterize the influence of the electromagnet so that the developed system can reach enough magnetic field and gradient. With this design, the workspace of the developed prototype can reach a spherical volume, the magnetic gradient can reach 4 T/m with 10 A of electrical current. The spatial distribution of the electromagnetic field is quantitatively modeled using the finite element method. Our magnetic actuation system allows access to the workspace with a positioning system, the latter will move the patient in the workspace so we can treat the patient zone by zone, which makes it possible to reduce the size of the system. Such as architecture allows efficient manipulation of microparticles in a considerably large 3-D workspace rather than just a small central area. Experiments to manipulate magnetic microrobot in 2-D and 3-D scenarios are carried out to demonstrate the effectiveness of the designed system.

A New Electromagnetic Actuation System with a Highly Accessible Workspace for Microrobot Manipulation

One approach to control drug delivery in the cochlea is to use a magnetic microrobot powered by externally applied magnetic fields. However, it is necessary to integrate a localization system to ensure the precise navigation of the microrobot in the cochlear canal. To avoid integrating a clinical imaging modality for the navigation of microrobots in the cochlea, we propose in this work the application of magnetic sensors to localize the magnetic microrobot. In our method, we propose a real-time localization system based only on two sensors to keep a precise localization of the spherical magnetic microrobot. The first sensor measures both the magnetic field of the environment and the magnetic field generated by the microrobot (localization sensor). The second sensor (surrounding sensor) is placed away from the localization sensor, this sensor measures the magnetic field of the environment, which will be subtracted from the signal of the localization sensor to determine the value of the magnetic field of the microrobot. We have proposed a new magnetic sensor calibration method and a robust localization algorithm for precise localization of the microrobot. The experiments demonstrate the effectiveness of the designed system and show the precision of the proposed localization strategy.

Tracking Strategy Based on Magnetic Sensors for Microrobot Navigation in the Cochlea

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A New Electromagnetic Actuation System with a Highly Accessible Workspace for Microrobot Manipulation

Tracking Strategy Based on Magnetic Sensors for Microrobot Navigation in the Cochlea