Abstract
The manipulation of magnetic objects using variable magnetic fields is a growing field of study with a variety of applications. Many magnetic manipulation systems use multiple electromagnets to generate magnetic fields. To control objects in real time, it is necessary to have a computationally efficient method of calculating the field produced by each solenoid anywhere in space. This paper presents a procedure to replace a real cylindrical solenoid of rectangular cross section with infinitely thin shells and rings that generate an equivalent magnetic field. The best approximation for a real solenoid is determined by its physical characteristics. The field produced by these idealized shapes can be calculated expediently using elliptic integrals as can the field gradient and higher-order derivatives. We find that for most real solenoids, the error in the magnetic field approximation is at most 2.5% at a 50% offset and in most cases is much less.
Highlights
Scientific disciplines including medicine, robotics, and biomechanics have turned to the study of magnetics to develop safer, less invasive, or more efficient procedures
The three solution geometries, CC, cylinder and one ring (CR), and RR, were used to approximate the magnetic field generated by solenoids of various lengths and radii
The error in the magnetic field approximation produced by each solution geometry was calculated for a range of solenoid geometries
Summary
Scientific disciplines including medicine, robotics, and biomechanics have turned to the study of magnetics to develop safer, less invasive, or more efficient procedures. Medical applications for untethered, magnetically manipulated microrobots have been demonstrated, including targeted drug release within the body, catheter trajectory optimization, stomach endoscopy, and transcranial magnetic stimulation.. The potential to use such microrobots in intraocular surgery has been shown, and a magnetically controlled capsule was used to navigate a simulated gastrointestinal lumen.. Electromagnets have been used in the fabrication and actuation of biological inspired microrobots to be used in biomedical applications.. Other research has investigated the use of paramagnetic spheroids in tissue engineering.. Magnetics has been applied to micro-machining processes in semiconductors and micro-assembly with high-precision positional control capability. Medical applications for untethered, magnetically manipulated microrobots have been demonstrated, including targeted drug release within the body, catheter trajectory optimization, stomach endoscopy, and transcranial magnetic stimulation. The potential to use such microrobots in intraocular surgery has been shown, and a magnetically controlled capsule was used to navigate a simulated gastrointestinal lumen. Electromagnets have been used in the fabrication and actuation of biological inspired microrobots to be used in biomedical applications. Other research has investigated the use of paramagnetic spheroids in tissue engineering. Magnetics has been applied to micro-machining processes in semiconductors and micro-assembly with high-precision positional control capability.
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