TY - GEN
T1 - Analytical magnetic model applied to endoscopic robots design
T2 - 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
AU - Li, Jing
AU - Barjuei, Erfan Shojaei
AU - Ciuti, Gastone
AU - Hao, Yang
AU - Zhang, Peisen
AU - Shi, Qing
AU - Menciassi, Arianna
AU - Huang, Qiang
AU - Dario, Paolo
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/24
Y1 - 2017/1/24
N2 - The recent years have witnessed great achievements in medical robotic devices, and further challenges will come and need to be conquered for more technically advanced and acceptable medical robotic devices. Magnetic-based approaches are highly promising to provide solutions for the new generation of medical robotic devices, due to the desirable characteristics in the interaction between the human body and the robotic system, e.g. freedom from physical barrier, magnetic permeability passing through the body. In this paper, we provide the analytical magnetic model for flux density and the force/torque mathematical relations. The analytical models based on current models for both external and internal magnets are derived and validated through a finite element analysis (i.e., COMSOL software) and with experimental tests. Finally, the preliminary results are presented, discussed and applied to an endoscopic capsule robot. It is worth noting that the presented work can be used for the design of any device involving permanent magnetic fields, such as medical system.
AB - The recent years have witnessed great achievements in medical robotic devices, and further challenges will come and need to be conquered for more technically advanced and acceptable medical robotic devices. Magnetic-based approaches are highly promising to provide solutions for the new generation of medical robotic devices, due to the desirable characteristics in the interaction between the human body and the robotic system, e.g. freedom from physical barrier, magnetic permeability passing through the body. In this paper, we provide the analytical magnetic model for flux density and the force/torque mathematical relations. The analytical models based on current models for both external and internal magnets are derived and validated through a finite element analysis (i.e., COMSOL software) and with experimental tests. Finally, the preliminary results are presented, discussed and applied to an endoscopic capsule robot. It is worth noting that the presented work can be used for the design of any device involving permanent magnetic fields, such as medical system.
KW - Active-locomotion capsule robots
KW - Magnetic modeling
KW - Medical robots
KW - Permanent magnets design
UR - http://www.scopus.com/inward/record.url?scp=85015746963&partnerID=8YFLogxK
U2 - 10.1109/ICInfA.2016.7832077
DO - 10.1109/ICInfA.2016.7832077
M3 - Conference contribution
AN - SCOPUS:85015746963
T3 - 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
SP - 1618
EP - 1623
BT - 2016 IEEE International Conference on Information and Automation, IEEE ICIA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 1 August 2016 through 3 August 2016
ER -