Department of Robotics, Kwangwoon University, Seoul 01897, Korea.
Sensors (Basel). 2022 Jul 27;22(15):5603. doi: 10.3390/s22155603.
The magnetic navigation system (MNS) with gradient and uniform saddle coils is an effective system for manipulating various medical magnetic robots because of its compact structure and the uniformity of its magnetic field and field gradient. Since each coil of the MNS was geometrically optimized to generate strong uniform magnetic field or field gradient, it is considered that no special optimization is required for the MNS. However, its electrical characteristics can be still optimized to utilize the maximum power of a power supply unit with improved operating time and a stronger time-varying magnetic field. Furthermore, the conventional arrangement of the coils limits the maximum three-dimensional (3D) rotating magnetic field. In this paper, we propose an electrical optimization method based on a novel arrangement of the MNS. We introduce the objective functions, constraints, and design variables of the MNS considering electrical characteristics such as resistance, current density, and inductance. Then, we design an MNS using an optimization algorithm and compare it with the conventional MNS; the proposed MNS generates a magnetic field or field gradient 22% stronger on average than that of the conventional MNS with a sevenfold longer operating time limit, and the maximum three-dimensional rotating magnetic field is improved by 42%. We also demonstrate that the unclogging performance of the helical robot improves by 54% with the constructed MNS.
磁场导航系统（MNS）采用梯度和均匀鞍形线圈，因其结构紧凑，磁场和磁场梯度均匀，是操控各种医疗磁性机器人的有效系统。由于 MNS 的每个线圈都经过几何优化，以产生强均匀磁场或磁场梯度，因此无需对其进行特殊优化。然而，仍可优化其电气特性，以利用电源的最大功率，提高工作时间和更强的时变磁场。此外，传统的线圈布置限制了最大的三维（3D）旋转磁场。在本文中，我们提出了一种基于 MNS 新型布置的电气优化方法。我们介绍了考虑电阻、电流密度和电感等电气特性的 MNS 的目标函数、约束条件和设计变量。然后，我们使用优化算法设计了一个 MNS，并与传统的 MNS 进行了比较；与传统的 MNS 相比，所提出的 MNS 平均产生的磁场或磁场梯度要强 22%，工作时间限制长 7 倍，最大三维旋转磁场提高了 42%。我们还证明，所构建的 MNS 可将螺旋机器人的疏通性能提高 54%。
