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Analysis of the magnetic torque on a tilted permanent magnet for drug delivery in capsule robots

2016

Conference Paper

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In this paper, we present the analysis of the torque transmitted to a tilted permanent magnet that is to be embedded in a capsule robot to achieve targeted drug delivery. This analysis is carried out by using an analytical model and experimental results for a small cubic permanent magnet that is driven by an external magnetic system made of an array of arc-shaped permanent magnets (ASMs). Our experimental results, which are in agreement with the analytical results, show that the cubic permanent magnet can safely be actuated for inclinations lower than 75° without having to make positional adjustments in the external magnetic system. We have found that with further inclinations, the cubic permanent magnet to be embedded in a drug delivery mechanism may stall. When it stalls, the external magnetic system's position and orientation would have to be adjusted to actuate the cubic permanent magnet and the drug release mechanism. This analysis of the transmitted torque is helpful for the development of real-time control strategies for magnetically articulated devices.

Author(s): Munoz, Fredy and Alici, Gursel and Zhou, Hao and Li, Weihua and Sitti, Metin
Book Title: Advanced Intelligent Mechatronics (AIM), 2016 IEEE International Conference on
Pages: 1386--1391
Year: 2016
Month: July
Day: 12

Department(s): Physical Intelligence
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/AIM.2016.7576964

Organization: IEEE

BibTex

@inproceedings{munoz2016analysis,
  title = {Analysis of the magnetic torque on a tilted permanent magnet for drug delivery in capsule robots},
  author = {Munoz, Fredy and Alici, Gursel and Zhou, Hao and Li, Weihua and Sitti, Metin},
  booktitle = {Advanced Intelligent Mechatronics (AIM), 2016 IEEE International Conference on},
  pages = {1386--1391},
  organization = {IEEE},
  month = jul,
  year = {2016},
  month_numeric = {7}
}