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

Conference Paper


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Abstract


  • 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.

Publication Date


  • 2016

Citation


  • Munoz, F., Alici, G., Zhou, H., Li, W. & Sitti, M. (2016). Analysis of the magnetic torque on a tilted permanent magnet for drug delivery in capsule robots. 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 1386-1391). United States: IEEE.

Scopus Eid


  • 2-s2.0-84992316464

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=7656&context=eispapers

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/6624

Has Global Citation Frequency


Start Page


  • 1386

End Page


  • 1391

Place Of Publication


  • United States

Abstract


  • 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.

Publication Date


  • 2016

Citation


  • Munoz, F., Alici, G., Zhou, H., Li, W. & Sitti, M. (2016). Analysis of the magnetic torque on a tilted permanent magnet for drug delivery in capsule robots. 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 1386-1391). United States: IEEE.

Scopus Eid


  • 2-s2.0-84992316464

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=7656&context=eispapers

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/6624

Has Global Citation Frequency


Start Page


  • 1386

End Page


  • 1391

Place Of Publication


  • United States