Abstract Nature provides a wide range of inspiration for building mobile micromachines that can navigate through confined heterogenous environments and perform minimally invasive environmental biomedical operations. For example, microstructures fabricated in the form bacterial or eukaryotic flagella act as artificial microswimmers. Due to limitations their design material properties, these simple lack multifunctionality, effective addressability manoeuvrability complex environments. Here we...

The goal of this article is to provide a thorough introduction the state art in magnetic methods for remote-manipulation and wireless-actuation tasks robotics. synthesizes prior works using unified notation, enabling straightforward application It begins with discussion fields generated by materials electromagnets, how become magnetized an applied field, forces torques on objects. then describes systems used generate control fields, including both electromagnetic permanent-magnet systems....

Functional compound micromachines are fabricated by a design methodology using 3D direct laser writing and selective physical vapor deposition of magnetic materials. Microtransporters with wirelessly controlled Archimedes screw pumping mechanism engineered. Spatiotemporally collection, transport, delivery micro particles, as well nanohelices inside microfluidic channels demonstrated. Biological systems exquisitely sensitive to the location, dose, timing physiologic cues pharmaceuticals. This...

The dipole approximation for magnetic fields has become a common simplifying assumption in magnetic-manipulation research when dealing with permanent magnets because the provides convenient analytical properties that are good fit at large distances. What is meant by "good distances" generally not quantified literature. By using parameterized multipole expansion and collaborating finite-element analysis (FEA) simulations to represent magnet's field, we quantify error associated as function of...

In this paper we apply Cosserat rod theory to catheters with permanent magnetic components that are subject spatially varying fields. The resulting model formulation captures the magnetically coupled catheter behavior and provides numerical solutions for equilibrium configurations in real-time. is general, covering cases different geometries, multiple components, various boundary constraints. necessary Jacobians quasi-static, closed-loop control using an electromagnetic coil system a...

The increasing threat of multidrug‐resistant bacterial strains against conventional antibiotic therapies represents a significant worldwide health risk and intensifies the need for novel antibacterial treatments. In this work, an effective strategy to target kill bacteria using silver‐coated magnetic nanocoils is reported. coil palladium (Pd) nanostructures are obtained by electrodeposition selective dealloying, subsequently coated with nickel (Ni) silver (Ag) manipulation properties,...

Numerous magnetic-manipulation systems have been developed to control objects in relatively large workspaces. These vary their number of electromagnets, configuration, and limitations. To date, no attempt has made rigorously quantify how many electromagnets are required perform a given magnetic manipulation task. For some tasks, such as controlling the field at point, answer is clear: same dimension control. tasks that apply forces on an object, less clear, systems, which more magnets than...

Model-based calibration of a magnetic workspace not only provides smooth representation the field and its gradient matrix, but also uses physical constraints to measurements. This paper presents first model-based technique calibrate manipulation system by using nonlinear least squares solve for scalar potential each source. The performance method is verified comparison numerical finite element simulation case study real system, where it able achieve an R <sup...

Minimally invasive neurosurgery does not require large incisions and openings in the skull to access desired brain region, which often results a faster recovery with fewer complications than traditional open neurosurgery. For disorders treated by implantation of neurostimulators thermocoagulation probes, current procedures incorporate straight rigid needle, restricts surgical trajectories limits number possible targets degrees freedom at respective target. A steerable needle flexible body...

We report Au/Ru core–shell nanowire motors. These nanowires are fabricated using our previously developed electrodeposition-based technique, and their catalytic locomotion in the presence of H2O2 is investigated. Unlike conventional bimetallic that self-electroosmotically propelled, open-ended show both a noticeable decrease rotational diffusivity increase motor speed with increasing length. Numerical modeling based on self-electroosmosis attributes decreases to formation toroidal vortices...

An Omnimagnet is an omnidirectional electromagnet comprising a spherical ferromagnetic core inside of three orthogonal nested solenoids. It generates magnetic dipole field with both variable dipole-moment magnitude and orientation no moving parts. The physical properties (e.g., moment, weight, resistance, inductance) any are derived. These general relationships used to design optimal subject the constraints that it has same per applied current in direction, each solenoid quadrupole...

Magnetically controlled catheters and endoscopes can improve minimally invasive procedures as a result of their increased maneuverability when combined with modern magnetic steering systems. However, such systems have two distinct shortcomings: they require continuous information about the location instrument inside human body rely on models that accurately capture device behavior, which are difficult to obtain in realistic settings. To address both these issues, we propose control algorithm...

Cochlear-implant electrode arrays (EAs) must be inserted accurately and precisely to avoid damaging the delicate anatomical structures of inner ear. It has previously been shown on benchtop that using magnetic fields steer magnet-tipped EAs during insertion reduces forces, which correlate with errors damage internal cochlear structures. This letter presents several advancements toward goal deploying steering cochlear-implant in operating room. In particular, we integrate image guidance...

A magnetic-tip steerable needle is presented with application to aiding deep brain stimulation electrode placement. The magnetic 1.3mm in diameter at the tip a 0.7mm shaft, which selected match size of electrode. orientation controlled by applying torques embedded neodymium-iron-boron permanent magnets clinically-sized magnetic-manipulation system. prototype design capable following trajectories under human-in-the-loop control minimum bend radii 100mm without inducing tissue damage and down...

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One of the grand challenges in interventional cardiology and neuroradiology is to minimize operation time risk damage during catheterization. These two factors drastically increase if target location resides small tortuous vessels. Flow‐driven microcatheters are capable rapidly safely navigating arteries with complex anatomy. However, their navigation relies on proper perfusion, which an important bottleneck treatment pathologies that cause impaired flow conditions. This work introduces...

In this paper, we examine several magnetic control methods that utilize the fully controllable dipole field generated by single stationary source. Since a source is nonuniform, it applies both forces and torques to objects can be used manipulate tools. Recently, Omnimagnet, computer-controlled capable of varying its dipole-moment direction magnitude, was developed perform manipulation. The equations are generally; therefore, they applied any omnidirectional source, but their effectiveness...

This is the first demonstration of a modular and reconfigurable magnetic-manipulation system with integral ferromagnetic material. system-which includes multiple Omnimagnets, each comprising three orthogonal solenoids spherical core-is capable dexterous manipulation magnetic tool. The magnetization coupling an arbitrary arrangement cores solved, enabling analytical solution for forces torques. Thus, does not require extensive field maps or in situ characterization. If positions orientations...

First responders in underground mines face a myriad of challenges when searching for personnel disaster scenario. Possibly, the most acute challenge is complete lack visibility owing to combination dust, smoke, and pitch-black conditions. Moreover, complex environment compounds difficulty navigating area as well identifying hazardous conditions until close proximity. Enhanced perception localization technologies that enable rapid safe response could mitigate mine rescue team’s risk reduce...

Digital holography is used to track the three-dimensional position of a magnetic microrobot maneuvered in real time by means an electromagnetic manipulation system. The method presented able process holograms at 40 Hz with accuracy imaging plane and depth <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\pm$ </tex-math></inline-formula> 23 notation="LaTeX">$\pm$</tex-math></inline-formula> 180...

Shape memory materials have been widely used as programmable soft matter for developing multifunctional hybrid actuators. Several challenges of fabrication and effective modelling these actuating systems can be addressed by implementing novel 3D printing techniques simulations to aid the designer. In this study, temperature-dependent recovery an embedded U-shaped Memory Alloy (SMA) shape fixity a 3D-printed Polymer (SMP) matrix were exploited create bi-state Composite (SMC) actuator....

Abstract Adverse ground behavior events, such as convergence and falls, pose critical risks to underground mine safety productivity. Today, monitoring of failures is primarily conducted using legacy techniques with low spatial temporal resolution while exposing workers hazardous environments. This study assesses the potential novel simultaneous localization mapping (SLAM)-based light detection ranging (Lidar) data quality for rapid, digital, eventually autonomous mine-wide geotechnical...

Convergence and rockmass failure are significant hazards to personnel physical assets in underground tunnels, caverns, mines. Mobile Laser Scanning Systems (MLS) can deliver large volumes of point cloud data at a high frequency on scale. However, current change detection approaches do not sufficient sensitivity precision for real-time performance large-scale datasets. We present novel, octree-based computational framework intra-voxel statistical inference deformation analysis. Our approach...

An Omnimagnet is an omnidirectional electromagnet comprised of a ferromagnetic core inside three orthogonal nested solenoids. It generates magnetic dipole-field with both variable dipole-moment magnitude and orientation no moving parts. The design Omnimagnet, in which each solenoid has the same dipole moment minimizes differences between solenoid's fields, provided optimized for strength by tailoring size spherical used to amplify solenoids' field. This then analyzed using FEA tools shown be...