Abstract
Minimally invasive diagnostics and interventions (MIDI) are emerging as major paradigm shifts in medical technology development and thus significant for elder care. Magnetic or electromagnetic guided devices have been introduced to MIDI due to the remote maneuverability which is critical to control and track the intracorporeal instruments. A category of magnetic actuation mechanism is investigated by the authors based on hybrid magnetic bearing (HMB) that can provide force suspension and locomotion. In this paper, force coefficient is investigated during the locomotion control using HMB. The force coefficient refers to the distribution ratio of permanent magnetic force and electromagnetic force in HMB. According to the definition of force coefficient, it can be concluded that the larger force coefficient is, and then the smaller power loss is.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Zhou, Y., Ren, H., Meng, M.Q.-H., Tse, Z.T.H., Yu, H.: Robotics in Natural Orifice Transluminal Endoscopic Surgery. Journal of Mechanics in Medicine and Biology (in press, 2013)
Hamed, A., Tang, S.C., Ren, H., Squires, A., Payne, C., Masamune, K., Tang, G., Mohammadpour, J., Tse, Z.T.H.: Advances in Haptics, Tactile Sensing, and Manipulation for Robot-Assisted Minimally Invasive Surgery, Noninvasive Surgery, and Diagnosis. Journal of Robotics 14 (2012)
Best, S., Kabbani, W., Scott, D., Bergs, R., Beardsley, H., Fernandez, R., Mashaud, L., Cadeddu, J.: Magnetic anchoring and guidance system instrumentation for laparo-endoscopic single-site surgery/natural orifice transluminal endoscopic surgery: lack of histologic damage after prolonged magnetic coupling across the abdominal wall. Urology 77, 243–247 (2011)
Ren, H., Kazanzides, P.: Investigation of attitude tracking using an integrated inertial and magnetic navigation system for hand-held surgical instruments. IEEE/ASME Transactions on Mechatronics 17(2), 210–217 (2012)
Fogel, M., Burkhart, N., Ren, H., Schiff, J., Meng, M., Goldberg, K.: Automated tracking of pallets in warehouses: Beacon layout and asymmetric ultrasound observation models. In: IEEE International Conference on Automation Science and Engineering, pp. 678–685 (September 2007)
Ren, H., Kazanzides, P.: Hybrid attitude estimation for laparoscopic surgical tools: A preliminary study. In: Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2009, pp. 5583–5586 (2009)
Ren, H., Meng, M., Chen, X.: Cross-layer optimization schemes for wireless biosensor networks. In: The Sixth World Congress on Intelligent Control and Automation, vol. 1, pp. 369–374 (2006)
Ren, H., Rank, D., Merdes, M., Stallkamp, J., Kazanzides, P.: Multi-sensor data fusion in an integrated tracking system for endoscopic surgery. IEEE Transactions on Information Technology in Biomedicine 16(1), 106–111 (2012)
Iddan, G., Meron, G., Glukhovsky, A., Swain, P.: Wireless capsule endoscopy. Nature 405, 417 (2000)
Moglia, A., Menciassi, A., Schurr, M.O., Dario, P.: Wireless capsule endoscopy: from diagnostic devices to multipurpose robotic systems. Biomedical Microdevices 9, 235–243 (2007)
Asama, J., Asami, T., Imakawa, T., Chiba, A., et al.: Effects of Permanent-Magnet Passive Magnetic Bearing on a Two-Axis Actively Regulated Low-Speed Bearingless Motor. IEEE Trans. Energy Conversion 26(1), 46–54 (2011)
Han, B.C., Zheng, S.Q., Wang, X., et al.: Integral Design and Analysis of Passive Magnetic Bearing and Active Radial Magnetic Bearing for Agile Satellite Application. IEEE Trans. Magn. 48(6), 1959–1966 (2012)
Imoberdorf, P., Zwyssig, C., Round, S.D., et al.: Combined Radial-Axial Magnetic Bearing for a 1 kW, 500,000 rpm Permanent Magnet Machine. In: Twenty Second Annual IEEE Applied Power Electronics Conference, pp. 1434–1440 (2007)
Fang, J.C., Sun, J.J., Liu, H., et al.: A Novel 3-DOF Axial Hybrid Magnetic Bearing. IEEE Trans. Magn. 46(12), 4034–4045 (2010)
Sun, J.J., Fang, J.C.: A Novel Structure of Permanent-Magnet-Biased Radial Hybrid Magnetic Bearing. J. Magn. Magn. Mater. 323(2), 202–208 (2011)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Sun, J., Ren, H., Wu, K. (2013). Force Efficient Analysis of a Hybrid Magnetic Actuation System for Minimally Invasive Diagnostics and Interventions. In: Biswas, J., Kobayashi, H., Wong, L., Abdulrazak, B., Mokhtari, M. (eds) Inclusive Society: Health and Wellbeing in the Community, and Care at Home. ICOST 2013. Lecture Notes in Computer Science, vol 7910. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-39470-6_21
Download citation
DOI: https://doi.org/10.1007/978-3-642-39470-6_21
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-39469-0
Online ISBN: 978-3-642-39470-6
eBook Packages: Computer ScienceComputer Science (R0)