Mobile Electromagnetic Coil Mechanism for Large-Workspace Magnetic Control
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Solution Overview
Problem
Existing magnetic manipulation systems for clinical applications face challenges in achieving three-dimensional motion with multiple coils due to design complexity and control bandwidth limitations, particularly in large workspaces like the human body, where stationary coil systems are cumbersome and permanent magnet systems have low control bandwidth.
Innovation Solution
A magnetic manipulation system utilizing a robotic parallel mechanism with at least three electromagnets and electromagnetic coils, actuated by a current control unit and equipped with a 3D position sensor, allowing for dynamic magnetic field generation and control within a large workspace, while maintaining compactness and avoiding singularities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If stationary electromagnetic coils are used for magnetic manipulation, then magnetic field generation capability is improved, but device complexity and structural design complexity increase significantly in large workspace applications
Solution Approach 1:
The patent transitions from stationary coils to mobile coils that can move dynamically within the workspace. The coil assembly is mounted on a mobile platform with actuators, allowing the coils to be repositioned as needed. This dynamic configuration reduces structural complexity by eliminating the need for complex stationary coil arrangements while maintaining magnetic field generation capability.
Solution Approach 2:
The magnetic manipulation system is divided into modular components: the coil assembly, mobile platform, and control system. The coil assembly itself is segmented into multiple independent coils that can be individually controlled. This segmentation allows for simplified design and easier manipulation of each component separately, reducing overall system complexity.
2Area of stationary object
If electromagnetic coils are enlarged to cover large workspace, then workspace coverage is improved, but inductance increases and control bandwidth decreases
Solution Approach 1:
Instead of using large stationary coils, the system employs multiple smaller mobile coils that can dynamically reposition themselves to cover different areas of the workspace. This maintains adequate workspace coverage while keeping individual coil inductance low, thereby preserving control bandwidth.
Solution Approach 2:
The system adds the dimension of time and spatial repositioning to the coil configuration. Rather than expanding coil size in two dimensions, the mobile coils move through the third dimension (space) to achieve coverage, effectively trading spatial expansion for temporal repositioning capability.
3Power
If permanent magnets are used for dynamic magnetic field generation, then magnetic field strength is improved, but control bandwidth is limited due to large inertia and motion range constraints
Solution Approach 1:
The patent replaces permanent magnets with electromagnetic coils actuated by a mobile platform. While permanent magnets provide strong fields, their mechanical movement is constrained by inertia. The electromagnetic coil system achieves comparable field strength through electrical actuation, which has much higher bandwidth and faster response times.
Solution Approach 2:
The system changes the actuation parameter from mechanical movement of permanent magnets to electrical current control of electromagnetic coils. This parameter change enables faster response and higher control bandwidth while maintaining the ability to generate strong magnetic fields.
4Productivity
If mobile coils are used for magnetic manipulation, then scalability and control bandwidth are improved, but position and pose variations of multiple coils create challenges in computing composite field in real time
Solution Approach 1:
The system incorporates position sensors on the mobile platform and coils to provide real-time feedback on coil positions and orientations. This feedback is fed into the control system, which dynamically computes the composite magnetic field based on actual coil configurations. This closed-loop approach simplifies real-time computation by using measured positions rather than predicting them.
Solution Approach 2:
The control system pre-computes and stores the magnetic field characteristics of individual coils at various positions and orientations. During real-time operation, the composite field is computed by summing these pre-characterized contributions, significantly reducing computational complexity compared to calculating fields from first principles at each moment.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise navigation and control of magnetic devices in a large 3D workspace with improved scalability and control bandwidth, reducing design complexity and safety concerns by using mobile electromagnetic coils with soft iron cores and a parallel mechanism that can generate desired magnetic fields.
Implementation Method 1
A magnetic manipulation system utilizing a robotic parallel mechanism with at least three electromagnets and electromagnetic coils, actuated by a current control unit
Implementation Method 2
electromagnetic coils having soft iron cores
Implementation Method 3
These devices typically consist of some forms of mechatronic or micro electromechanical systems (MEMS) devices with a rigidly attached magnetic body on which magnetic forces and torques are applied by an external field
Data Source
AI summary
A magnetic manipulation system and method for moving and navigating a magnetic device in a body are provided. The system includes a robotic parallel mechanism having at least three electromagnets and at least three electromagnetic coils coupled to the at least three electromagnets, respectively. The electromagnetic coils are actuated to keep the electromagnets in static conditions or move the electromagnets along a desired trajectory, a current control unit supplying currents to the electromagnetic coils which have soft iron cores. The currents supplied by the control unit are configured to generate dynamic magnetic field in the soft iron core's linear region. The current control unit and the robotic parallel mechanism are configured to generate desired dynamic magnetic fields in desired positions within a workspace to control a magnetic device, and a three-dimensional position sensor is configured for performing a close loop control of the robotic parallel mechanism.