Precise position control of a helical magnetic robot in pulsatile flow using the rotating frequency of the external magnetic field | Zendy

Jong-Yul Kim | Zendy; Jaekwang Nam | Zendy; Wonseo Lee | Zendy; Bong-Jun Jang | Zendy; G. H. Jang | Zendy

Open Access

Precise position control of a helical magnetic robot in pulsatile flow using the rotating frequency of the external magnetic field

Author(s) -

Jong-Yul Kim,

Jaekwang Nam,

Wonseo Lee,

Bong-Jun Jang,

G. H. Jang

Publication year - 2017

Publication title -

aip advances

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.421

H-Index - 58

ISSN - 2158-3226

DOI - 10.1063/1.4975127

Subject(s) - pulsatile flow , position (finance) , flow (mathematics) , magnetic field , fourier transform , blood flow , field (mathematics) , mechanics , acoustics , physics , control theory (sociology) , computer science , biomedical engineering , engineering , artificial intelligence , mathematics , control (management) , medicine , finance , quantum mechanics , pure mathematics , economics , cardiology

We propose a position control method for a helical magnetic robot (HMR) that uses the rotating frequency of the external rotating magnetic field (ERMF) to minimize the position fluctuation of the HMR caused by pulsatile flow in human blood vessels. We prototyped the HMR and conducted several experiments in pseudo blood vessel environments with a peristaltic pump. We experimentally obtained the relation between the flow rate and the rotating frequency of the ERMF required to make the HMR stationary in a given pulsatile flow. Then we approximated the pulsatile flow by Fourier series and applied the required ERMF rotating frequency to the HMR in real time. Our proposed position control method drastically reduced the position fluctuation of the HMR under pulsatile flow

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