3-D EMA system & Gravity Compensation

2013.10.10 Le Viet Ha - 136667

Contents
1 Introduction

Principle

Gravity compensation

Conclusion

-2-

Introduction
3-dimensional actuation of intravascular microrobot.
1 stationary Helmholtz-Maxwell coil pairs in x-axis

1 rotational Helmholtz-Maxwell coil pairs

The stationary coils are inside the rotation coils.

-3-

Principle
2 pairs of Helmholtz coil will align the robot to the desired direction ( Same current magnitude and direction, r=d) 2 pairs of Maxwell coil can generate the propulsion force. ( = 3 r) (same current magnitude but opposite direction)

-4-

Principle

Principle (2)
Helmholtz coil align the microbot in the ROI, x-y plane. With the torque if the permanent magnet not in the direction:

-6-

Principle (3)
Uniform gradient magnetic field generated by Maxwell coil produce propulsion force:

= ( 2 .

-7-

EMA rotation & Gravity compensation

-8-

Gravity compensation (2)

-9-

Gravity compensation (3)

As = 90 The gravitational force is offset by the reaction force form the surface of the test bed. As 90 we need to compensate gravity

Gravitational force

Normal component: (can be offset by reaction force) Tangential component

-10-

Gravity compensation (4)

Assume that x-r is the actuation plane of the robot:

-11-

Gravity compensation (5)

If we know the volume, magnetization values and magnetic field gradients:

-12-

Gravity compensation (5)

Conclusion

-14-

Conclusion

Without gravity compensation

With gravity compensation

-15-

-16-