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Updated Minimum Weighted Norm Based Electromagnetic Field Control for a Magnetically Actuated Microrobot

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  • Robot and Applications
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Abstract

Herein, we present a novel electromagnetic field control methodology against a heating problem that can perform both desired actuation and lower heating of an electromagnet actuator comprising several electromagnets for magnetically actuated microrobot. The proposed method can balance the heating temperature of each electromagnet in a multiple coiled electromagnetic actuator which should be sustained in a similar state to prevent overheating while maintaining a desired magnetic force. Based on the conventional magnetic field model, the controller employs a real-time updated minimum weighted norm of induced currents by considering the physically limited current source and temperature feedback of each coil. The simulation results indicate that the heating temperature is lower than the conventional method during the same operation time. The performance of capsule motion and respective heating temperature through the proposed method was validated in ex-vivo experiments in a pig intestine for the actual clinical application. During the whole motion cycle of a wireless magnetic capsule in the intestine sample, the measured heating temperature could be significantly reduced. Hence, the temperatures of all the electromagnets were balanced at a similar level without any extremely high temperatures for specific electromagnets. Eventually, the proposed control method can extend the operating time of the conventional electromagnetic actuator and enhance the capability of real application.

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Author information

Author notes

  1. Jayoung Kim, Han-Sol Lee, and Cheong Lee are equally Contributed.

Authors and Affiliations

  1. Korea Institute of Medical Microrobotics, 43-26, Cheomdangwagi-ro, Buk-gu, Gwangju, 61011, Korea

    Jayoung Kim, Seonghwan Jeong & Jong-Oh Park

  2. School of Mechanical Engineering, Chonnam National University, 77, Yongbong-ro, Buk-gu, 61186, Gwangju, Korea

    Han-Sol Lee, Cheong Lee & Chang-Sei Kim

Authors
  1. Jayoung Kim
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  2. Han-Sol Lee
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  4. Seonghwan Jeong
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  5. Jong-Oh Park
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  6. Chang-Sei Kim
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Corresponding authors

Correspondence to Jong-Oh Park or Chang-Sei Kim.

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This research was supported by a grant of the Korea Health Technology Development R&D Project through the Korea Health Industry Development Institute (KHIDI), funded by the Ministry of Health & Welfare, Korea (grant number: HI19C0642, HI19C0656).

Jayoung Kim received his B.S., M.S., and Ph.D. degrees from the Department of Mechanical Engineering at Chungbuk National University, and the Department of Mechatronics Engineering at Chungnam National University, in 2008, 2011, and 2018, respectively. He was a senior researcher in Medical Microrobot Center (MRC) and Robot Research Initiative (RRI) at Chonnam National University. He is now a senior research scientist in the Korea Institute of Medical Microrobotics (KIMIRo). His research interests are dynamic mechanisms and AI-based control systems for micro/macro robots.

Han-Sol Lee received his B.S. and M.S. degrees from the Department of Mechanical Engineering at Chonnam National University, Korea, in 2018 and 2020, respectively. Currently, he is a Ph.D. candidate in Chonnam National University. His research interests include dynamics and control applications to mechanical systems.

Cheong Lee received his B.S. and M.S. degrees from the Department of Mechanical Engineering at Chonnam National University, Korea, in 2012 and 2014, respectively. Currently, he is a researcher in Woo Young Medical Co., Ltd. His research interests are commercialization of active capsule endoscope system and medical robot.

Seonghawn Jeong received his B.S. and M.S. degrees from the Department of Mechatronics Engineering at Chungnam National University, Korea, in 2014 and 2017, resepctively. He is a Researcher in Korea Institute of Medical Microrobotics. His research interests are catheter robots, digital image processing and electromagnetic actuation systems.

Jong-Oh Park received his B.S. and M.S. degrees from the Department of Mechanical Engineering, Korea, in 1978 and 1981, respectively, and a Ph.D. degree in robotics from Stuttgart University, Germany in 1987. Between 1982 and 1987, he was a guest researcher at the Fraunhofer-Institut für Produktionstechnik und Automatisierung (FhG IPA), Germany. He worked as a principal researcher in the Korea Institute of Science and Technology (KIST) from 1987 to 2005. He was a full professor in the School of Mechanical Engineering, Chonnam National University. Now he is a director of the Korea Institute of Medical Microrobotics, Korea. His research interests are biomedical.

Chang-Sei Kim received his B.S., M.S., and Ph.D. degrees from the Department of Control and Mechanical Engineering at Pusan National University, in 1998, the Department of Mechanical Design and Production Engineering at Seoul National University, in 2000, and the School of Mechanical Engineering at Pusan National University, in 2011, respectively. He was a Research Associate in the Dept. of Mechanical Engineering at University of Maryland College Park, USA. He is now an Associate Professor in the School of Mechanical Engineering at Chonnam National University, Korea. His research interests are dynamics and control applications for mechanical and biomedical systems in the real world.

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Kim, J., Lee, HS., Lee, C. et al. Updated Minimum Weighted Norm Based Electromagnetic Field Control for a Magnetically Actuated Microrobot. Int. J. Control Autom. Syst. 21, 935–947 (2023). https://doi.org/10.1007/s12555-021-0908-0

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  • DOI: https://doi.org/10.1007/s12555-021-0908-0

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