MINRob: A Large Force-Outputting Miniature Robot Based on a Triple-Magnet System

Yuxuan Xiang; Ruomao Liu; Zihan Wei; Xinliang Wang; Weida Kang; Min Wang; Jun Liu; Xudong Liang; Jiachen Zhang

doi:10.1109/TRO.2024.3410096

MINRob: A Large Force-Outputting Miniature Robot Based on a Triple-Magnet System

Yuxuan Xiang, Ruomao Liu, Zihan Wei, Xinliang Wang, Weida Kang, Min Wang, Jun Liu, Xudong Liang^*, Jiachen Zhang^*

^*Corresponding author for this work

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

8 Citations (Scopus)

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Abstract

Magnetically actuated miniature robots are limited in their mechanical outputting capability, because the magnetic forces decrease significantly with decreasing robot size and increasing actuating distance. Hence, the output force of these robots can hardly meet the demand for specific biomedical applications (e.g., tissue penetration). This article proposes a tetherless magnetic impact needle robot (MINRob) based on a triple-magnet system with reversible and repeatable magnetic collisions to overcome this constraint on output force. The working procedure of the proposed system is divided into several states, and a mathematical model is developed to predict and optimize the force output. These force values in magnetic impact and penetration are obtained from a customized setup, indicating a ten-fold increase compared with existing miniature robots that only utilize magnetic attractive force. Eventually, the proposed MINRob is integrated with a teleoperation system, enabling remote and precise control of the robot's position and orientation. The triple-magnet system offers promising locomotion patterns and penetration capacity via the notably increased force output, showing great potential in robot-assisted tissue penetration in minimally invasive healthcare. © 2024 IEEE.

Original language	English
Pages (from-to)	3127-3145
Journal	IEEE Transactions on Robotics
Volume	40
Online published	5 Jun 2024
DOIs	https://doi.org/10.1109/TRO.2024.3410096
Publication status	Published - Jun 2024

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Month information for this publication is provided by the author(s) concerned.

Funding

10.13039/501100001809-National Natural Science Foundation of China (Grant Number: 62303387 and 12322207) Research Grants Council of the Hong Kong Special Administrative Region, China (Grant Number: CityU21202822) 10.13039/501100012226-Fundamental Research Funds for the Central Universities (Grant Number: HIT. OCEF. 2022037) Science Technology and Innovation Program of Shenzhen (Grant Number: JCYJ20220531095210022)

Research Keywords

Magnetic collision
magnetic force
magnetic miniature robots
tissue penetration
triple-magnet system

Publisher's Copyright Statement

COPYRIGHT TERMS OF DEPOSITED POSTPRINT FILE: © 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Xiang, Y., Liu, R., Wei, Z., Wang, X., Kang, W., Wang, M., Liu, J., Liang, X., & Zhang, J. (2024). MINRob: A Large Force-Outputting Miniature Robot Based on a TripleMagnet System. IEEE Transactions on Robotics, 40, 3127-3145. https://doi.org/10.1109/TRO.2024.3410096

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title = "MINRob: A Large Force-Outputting Miniature Robot Based on a Triple-Magnet System",

abstract = "Magnetically actuated miniature robots are limited in their mechanical outputting capability, because the magnetic forces decrease significantly with decreasing robot size and increasing actuating distance. Hence, the output force of these robots can hardly meet the demand for specific biomedical applications (e.g., tissue penetration). This article proposes a tetherless magnetic impact needle robot (MINRob) based on a triple-magnet system with reversible and repeatable magnetic collisions to overcome this constraint on output force. The working procedure of the proposed system is divided into several states, and a mathematical model is developed to predict and optimize the force output. These force values in magnetic impact and penetration are obtained from a customized setup, indicating a ten-fold increase compared with existing miniature robots that only utilize magnetic attractive force. Eventually, the proposed MINRob is integrated with a teleoperation system, enabling remote and precise control of the robot's position and orientation. The triple-magnet system offers promising locomotion patterns and penetration capacity via the notably increased force output, showing great potential in robot-assisted tissue penetration in minimally invasive healthcare. {\textcopyright} 2024 IEEE.",

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author = "Yuxuan Xiang and Ruomao Liu and Zihan Wei and Xinliang Wang and Weida Kang and Min Wang and Jun Liu and Xudong Liang and Jiachen Zhang",

note = "Month information for this publication is provided by the author(s) concerned.",

year = "2024",

month = jun,

doi = "10.1109/TRO.2024.3410096",

language = "English",

volume = "40",

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T2 - A Large Force-Outputting Miniature Robot Based on a Triple-Magnet System

AU - Xiang, Yuxuan

AU - Liu, Ruomao

AU - Wei, Zihan

AU - Wang, Xinliang

AU - Kang, Weida

AU - Wang, Min

AU - Liu, Jun

AU - Liang, Xudong

AU - Zhang, Jiachen

N1 - Month information for this publication is provided by the author(s) concerned.

PY - 2024/6

Y1 - 2024/6

N2 - Magnetically actuated miniature robots are limited in their mechanical outputting capability, because the magnetic forces decrease significantly with decreasing robot size and increasing actuating distance. Hence, the output force of these robots can hardly meet the demand for specific biomedical applications (e.g., tissue penetration). This article proposes a tetherless magnetic impact needle robot (MINRob) based on a triple-magnet system with reversible and repeatable magnetic collisions to overcome this constraint on output force. The working procedure of the proposed system is divided into several states, and a mathematical model is developed to predict and optimize the force output. These force values in magnetic impact and penetration are obtained from a customized setup, indicating a ten-fold increase compared with existing miniature robots that only utilize magnetic attractive force. Eventually, the proposed MINRob is integrated with a teleoperation system, enabling remote and precise control of the robot's position and orientation. The triple-magnet system offers promising locomotion patterns and penetration capacity via the notably increased force output, showing great potential in robot-assisted tissue penetration in minimally invasive healthcare. © 2024 IEEE.

AB - Magnetically actuated miniature robots are limited in their mechanical outputting capability, because the magnetic forces decrease significantly with decreasing robot size and increasing actuating distance. Hence, the output force of these robots can hardly meet the demand for specific biomedical applications (e.g., tissue penetration). This article proposes a tetherless magnetic impact needle robot (MINRob) based on a triple-magnet system with reversible and repeatable magnetic collisions to overcome this constraint on output force. The working procedure of the proposed system is divided into several states, and a mathematical model is developed to predict and optimize the force output. These force values in magnetic impact and penetration are obtained from a customized setup, indicating a ten-fold increase compared with existing miniature robots that only utilize magnetic attractive force. Eventually, the proposed MINRob is integrated with a teleoperation system, enabling remote and precise control of the robot's position and orientation. The triple-magnet system offers promising locomotion patterns and penetration capacity via the notably increased force output, showing great potential in robot-assisted tissue penetration in minimally invasive healthcare. © 2024 IEEE.

KW - Magnetic collision

KW - magnetic force

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KW - tissue penetration

KW - triple-magnet system

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DO - 10.1109/TRO.2024.3410096

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JF - IEEE Transactions on Robotics

ER -

MINRob: A Large Force-Outputting Miniature Robot Based on a Triple-Magnet System

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ECS: Computer-aided Teleoperation System for Millimetre-scale Magnetic Soft Capsule Robot in Minimally Invasive Healthcare and Targeted Intervention

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MINRob: A Large Force-Outputting Miniature Robot Based on a Triple-Magnet System

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Bibliographical note

Funding

Research Keywords

Publisher's Copyright Statement

RGC Funding Information

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ECS: Computer-aided Teleoperation System for Millimetre-scale Magnetic Soft Capsule Robot in Minimally Invasive Healthcare and Targeted Intervention

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