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Published on: April 21, 2013
Modelling and Optimization of Magnetic Navigation Systems for Passive Robots in Minimally Invasive Brain Surgery
Xu Tang1, Ye Xia2, Xingyu Liu1
1School of Mechanical Science and Engineering, State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China.
Background:
Passive microrobots offer great potential for minimally invasive brain interventions due to their cable-free actuation and reduced tissue damage. However, existing magnetic navigation systems (MNSs) often suffer from low energy efficiency and limited adaptability.
Methods:
We propose a macro-micro collaborative MNS combining macro-scale mechanical positioning with local magnetic field modulation via coil arrays. A numerical model was developed to compare square and circular coils under different spatial configurations.
Results:
A novel MNS structure employing square coils was optimized using multi-objective algorithms and evaluated using newly defined performance metrics. The optimized system achieved over 60% reduction in thermal power and produced an average magnetic field of 148.60 mT, improving both energy efficiency and dynamic performance.
Conclusions:
The proposed system significantly enhances magnetic control capabilities, offering a promising solution for practical, minimally invasive brain interventions.
