2.9 Bradley J. Nelson

Talk Title

The Evolution of our Microrobot Magnetic Manipulation Systems

A�liation

Institute of Robotics and Intelligent Systems, ETH Zurich, Switzerland

Abstract

Since our group began working on magnetically manipulating unthethered magnetic microstructures adecade ago, we have developed a wide range of systems for generating magnetic fields and field gradients.The scale of the systems varies from small ones suitable for microscopy applications to large systemscapable of manipulating structures within a human body. In this talk I will present an overview of ourapproach and lessons learned along the way. I will also discuss the various schemes we have developed forpropelling devices using magnetic fields that vary spatially and temporally. Along the way I will presentapplications we are pursuing and where the technology may be heading.

References

[1] C. Bergeles, B. E. Kratochvil, and B. J. Nelson, “Visually servoing magnetic intraocular microdevices,”IEEE Trans. Robotics, vol. 28, no. 4, pp. 798– 809, 2012.

[2] C. Bergeles, M. P. Kummer, B. E. Kratochvil, C. Framme, and B. J. Nelson, “Steerable intravit-real inserts for drug delivery: in vitro and ex vivo mobility experiments,” Int. Conf. Medical Image

Computing and Computer Assisted Intervention, pp. 33–40, 2011.

[3] B. E. Kratochvil, M. P. Kummer, S. Erni, R. Borer, D. R. Frutiger, S. Schuerle, and B. J. Nelson,“MiniMag: A hemishperical electromagnetic system for 5-DOF wireless micromanipulation,” Int.

Symp. Experimental Robotics, 2010.

[4] M. P. Kummer, J. J. Abbott, B. E. Kratochvil, R. Borer, A. Sengul, and B. J. Nelson, “OctoMag:An electromagnetic system for 5-DOF wireless micromanipulation,” IEEE Trans. Robotics, vol. 26,no. 6, pp. 1006–1017, 2010.

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(a)

(b)

Figure 9: Nelson et al.: (a) The OctoMag electromagnetic control system is capable of 5DOF manipulationof magnetic micro devices, and (b) a magnetic microrobot docked in a chorioallantoic membrane vein ofa chicken embryo.

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