Decoupled Mobile Electromagnetic Coils for Magnetic Actuation
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Solution Overview
Problem
Existing magnetic actuation systems for medical robots face challenges in scalability, heat generation, and safety due to the need for larger coils and stronger magnetic fields, which limit their working area and controllability, especially in clinical applications where obstructions and complex body surfaces complicate the generation of dynamic magnetic fields.
Innovation Solution
A magnetic actuation system utilizing decoupled mobile electromagnetic coils that can be individually positioned and oriented using a mechanical platform to generate optimal magnetic fields, reducing heat generation and increasing energy efficiency, while being compatible with intraoperative imaging devices for real-time localization and feedback control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If larger coils and stronger magnetic fields are used to increase working area and controllability, then magnetic actuation capability is improved, but heat generation increases and safety is compromised
Solution Approach 1:
The system divides the magnetic actuation function into multiple independent electromagnetic coils that can be individually controlled and positioned. This segmentation allows the magnetic field generation task to be distributed across multiple smaller coils rather than requiring one large coil, thereby reducing heat generation at any single location while maintaining the overall working area and actuation capability.
Solution Approach 2:
The electromagnetic coils are mounted on a mechanical platform that enables dynamic repositioning and reconfiguration of the coils in three-dimensional space. This dynamic capability allows the system to adapt coil positions and orientations to optimize magnetic field generation for different working areas and tasks, improving adaptability without requiring permanently larger coils that would generate excessive heat.
2Area of stationary object
If larger coils are used to expand working area, then magnetic field coverage is improved, but device complexity and mechanical movement requirements increase
Solution Approach 1:
Instead of using a single large stationary coil, the system employs multiple smaller coils mounted on a mechanical platform that can dynamically reposition them in three-dimensional space. This dynamic reconfiguration allows the system to expand its effective working area by moving coils to different positions rather than requiring one large fixed coil, thereby achieving area expansion with more manageable device complexity.
Solution Approach 2:
The mechanical platform serves multiple functions: it positions the coils, orients them in three-dimensional space, and enables reconfiguration for different tasks. This multi-functionality allows the system to achieve expanded working area and improved controllability without proportionally increasing device complexity, as the same mechanical structure performs multiple roles.
3Use of energy by moving object
If mobile electromagnetic coils are used to increase flexibility and reach, then energy efficiency is improved, but device complexity increases
Solution Approach 1:
The system employs a mechanical platform that enables dynamic repositioning of electromagnetic coils in three-dimensional space. This mobility allows the coils to be placed in optimal positions close to the target object, significantly improving energy efficiency by reducing the distance over which magnetic fields must act. The mechanical platform, while adding complexity, enables this energy-efficient operation through controlled movement.
Solution Approach 2:
The system performs preliminary positioning of the electromagnetic coils to optimal locations before magnetic actuation begins. By pre-positioning the coils close to the target object, the system maximizes magnetic field strength and energy efficiency for the actual actuation task, ensuring that the coils are in the most energy-efficient configuration before operation commences.
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
The system enhances control bandwidth, safety, and energy efficiency by allowing smaller coils and lower current usage, enabling more flexible and precise magnetic field generation for various medical tasks, including locomotion and tissue manipulation, while avoiding collisions and minimizing mechanical movement.
Implementation Method 1
electromagnetic coils with soft iron core, to actuate or navigate various kind of medical robots
Implementation Method 2
magnetic field has been considered as a promising strategy to remotely control various tethered or untethered magnetic devices
Implementation Method 3
actuate medical robots through magnetic torque actuation, magnetic force actuation
Data Source
AI summary
Magnetic field has been considered as a safe and promising method for remote control of medical robots in body. Systems that implement electromagnetic coils can provide wide control bandwidth and on-off capability. However, scaling-up the working space of such systems for clinical use and increasing energy efficiency to reduce heat generation have always been a challenging task. The design, modeling and control methods for a magnetic actuation system with multiple mobile electromagnetic coils with decoupled movements are introduced. The high flexibility of such configuration and the proposed real-time control strategy enables the system to enlarge the working space by tracking the locomotion of the robot, deal with the irregularly shaped obstructions inside the working area, work with medical imaging systems for localization of the medical robots, generate various kind of magnetic field for actuation and conduct real-time optimization on coils' positions to enhance energy efficiency.