Electromagnetic Manipulation System for Semi-autonomous Control of Small-scale Magnetic Objects with Sequential Programming

In this study, an electromagnetic coil system was developed for semi-autonomous manipulation of microrobots in three-dimensional (3D) space with sequential programming. Cylindrical-shaped cores were used for the electromagnetic coils; the coils were arranged in a hemispherical configuration to allow open access to the workspace for imaging tools. The system consisted of four main parts: the electromagnetic coils, an electronic control unit, optical cameras, and a direct-manipulation graphical user interface (GUI). The system was capable of producing a magnetic field of up to 18 mT with a maximum current of 8 A current. Using this system, magnetic force and torque can be applied for semi-autonomous manipulation of magnetic objects, with different time intervals, by instantly inputting the required fields and gradients via the GUI. Sequential programming of the magnetic field allowed for better controllability and enhanced the repeatability of the system. The versatility of the system was demonstrated by moving a magnetic guidewire, micromagnet, and nanoparticles to their intended targets to assess the potential application of the system in biomedical fields.