Evidence map›Paper›PMID 39367078›Full record

ArticleScientific reports2024

Strong magnetic actuation system with enhanced field articulation through stacks of individually addressed coils.

Onder Erin, Xinhao Chen, Adrian Bell, Suraj Raval, Trevor Schwehr, Xiaolong Liu, Pranav Addepalli, Lamar O Mair, Irving N Weinberg, Yancy Diaz-Mercado and 1 more

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Scientific reports, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it
0cells of the map it votes in
0citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

11 authors.

Onder ErinJohns Hopkins University, Laboratory for Computational Sensing and Robotics, Baltimore, MD, 21218, USA. oerin@jhu.edu.
Xinhao ChenJohns Hopkins University, Laboratory for Computational Sensing and Robotics, Baltimore, MD, 21218, USA.
Adrian BellJohns Hopkins University, Laboratory for Computational Sensing and Robotics, Baltimore, MD, 21218, USA.
Suraj RavalDepartment of Mechanical Engineering, University of Maryland, College Park, MD, 20742, USA.
Trevor SchwehrJohns Hopkins University, Laboratory for Computational Sensing and Robotics, Baltimore, MD, 21218, USA.
Xiaolong LiuJohns Hopkins University, Laboratory for Computational Sensing and Robotics, Baltimore, MD, 21218, USA.
Pranav AddepalliDepartment of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, 21218, USA.
Lamar O MairWeinberg Medical Physics, Inc., North Bethesda, MD, 20852, USA.
Irving N WeinbergWeinberg Medical Physics, Inc., North Bethesda, MD, 20852, USA.
Yancy Diaz-MercadoDepartment of Mechanical Engineering, University of Maryland, College Park, MD, 20742, USA.
Axel KriegerJohns Hopkins University, Laboratory for Computational Sensing and Robotics, Baltimore, MD, 21218, USA. axel@jhu.edu.

Funding

NSF FRR CAREER Grant 2144348
6 · The paper itself

Abstract

Miniaturization of medical tools promises to revolutionize surgery by reducing tissue trauma and accelerating recovery. Magnetic untethered devices, with their ability to access hard-to-reach areas without physical connections, emerge as potential candidates for such miniaturization. Despite the benefits, these miniature devices face challenges regarding force and torque outputs, restricting their ability to perform tasks requiring mechanical interactions such as tissue penetration and manipulation. To overcome magnetic actuation system-based force and torque limitations, this study proposes Variable Outer Radius Individually Addressable Coil Stacks (VORIACS), a novel magnetic actuation system optimized for high force output generation to magnetic devices within its workspace. The VORIACS marks significant improvements and breakthroughs in magnetic actuation within decimeter-scale workspace. The VORIACS is comprised of 12 coils that are optimized for 2D magnetic field generation under maximized power consumption of up to 12 kW. We implement six two-channel motor controllers, powered by six separate power supplies. Each of the twelve coils in the system is operated on its own motor-controller channel. This arrangement allows the system to exceed the magnetic forces and torques possible for single-coil versions of the same geometry. This study elaborates on optimizing, manufacturing, integrating, and demonstrating this system. Comparative analysis reveals that while a suboptimal, single-coil version of this system generates 0.31 N force (710 mT/m magnetic gradient magnitude), the VORIACS produces 1.673 N force (3834 mT/m magnetic gradient magnitude) on the same magnetic object placed 5 cm away from the coils. Moreover, the strong penetration force generated by VORIACS enables needle penetration to a mock gel that has the rigidity of liver tissue. In addition, we demonstrate the advantage of stacked coils with variable radii for magnetic field manipulability while maintaining the optimized force delivery property of the system, which improves control and could facilitate multi-tool manipulation. By enabling a fivefold increase in magnetic pulling force compared to its single-coil counterpart, VORICAS raises the potential penetration capabilities of untethered magnetic robotics in surgical procedures.

Indexed as

Equipment DesignMagnetic FieldsHumansMagneticsMiniaturizationTorque

Identifiers

PMID39367078
PMCPMC11452550

What OpenQuestion holds

Textmetadata
LicenceCC BY-NC-ND
Read underepoch 390

Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.