锁定同步电机的磁定位与操纵

Magnetic localization and manipulation of locking synchronous motors.

作者信息

Richter Michiel, Masjosthusmann Lukas, Makushko Pavlo, Venkiteswaran Venkatasubramanian Kalpathy, Makarov Denys, Misra Sarthak

机构信息

Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands.

Helmholtz-Zentrum Dresden-Rossendorf e.V., Institute of Ion Beam Physics and Materials Research, Dresden, Germany.

出版信息

Commun Eng. 2025 May 22;4(1):91. doi: 10.1038/s44172-025-00424-3.

DOI:10.1038/s44172-025-00424-3

PMID:40404797

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC12098917/

Abstract

Three-dimensional (3D) localization of magneto-surgical devices is essential for safe and efficient navigation. However, existing magnetic localization methods either limit device miniaturization due to internal sensors or require additional excitation fields and external sensor arrays. Herein, we formulate a localization method based on the special properties of rotating magnetic dipoles, which allow reconstruction of position and rotation axis from a single external tri-axial magnetometer. The rotating dipole is realized through a permanent magnet synchronous motor (PMSM) that can reversibly (un)lock using the heat-induced phase transition of a low melting point alloy. Sequential localization and manipulation is performed by an external mobile electromagnet equipped with a single eye-in-hand Hall effect sensor. We describe the PMSM's thermal and magnetic properties, formulate the governing localization equations, quantify and validate 3D tracking of PMSM pose trajectory, and demonstrate sequential localization and manipulation in a benchtop experiment.

摘要

磁外科设备的三维（3D）定位对于安全、高效的导航至关重要。然而，现有的磁定位方法要么由于内部传感器而限制了设备的小型化，要么需要额外的激励场和外部传感器阵列。在此，我们基于旋转磁偶极子的特殊性质制定了一种定位方法，该方法允许从单个外部三轴磁力计重建位置和旋转轴。旋转偶极子通过永磁同步电机（PMSM）实现，该电机可以利用低熔点合金的热致相变进行可逆（解）锁。顺序定位和操作由配备单眼霍尔效应传感器的外部移动电磁铁执行。我们描述了PMSM的热学和磁学特性，制定了主要的定位方程，量化并验证了PMSM姿态轨迹的三维跟踪，并在台式实验中演示了顺序定位和操作。