Electromagnetic Manipulation System for Semi autonomous Control of Small scale Magnetic Objects with Sequential Programming

Abstract

In this study, an electromagnetic coil system was developed for the semi-autonomous manipulation of microrobots in three-dimensional (3D) space through sequential programming. The system employed cylindrical-shaped cores for the electromagnetic coils arranged in a hemispherical configuration to allow easy access to the workspace for imaging tools. The system (shown in Fig. 1) was composed of four main components: the electromagnetic coils, an electronic control unit, optical cameras, and a directmanipulation graphical user interface (GUI). The system could generate a magnetic field of up to 18 mT with a maximum current of 8 A, enabling the application of magnetic force and torque for semiautonomous manipulation of magnetic objects with different time intervals by inputting the required fields and gradients instantly through the GUI. Sequential programming of the magnetic field allowed for better controllability and enhanced the repeatability of the system. In order to evaluate the system's potential use in biomedical fields, the system's versatility was shown by moving a magnetic guidewire, micromagnet, and nanoparticles to their targeted destinations.