Managing the attractive magnetic force between an untethered magnetically actuated tool and a rotating permanent magnet

摘要: Untethered magnetic devices, such as microrobots and magnetically actuated capsule endoscopes, stand to significantly impact the field of minimally invasive medicine. These which we refer tools (MATs), are often controlled using electromagnets, can be expensive scale clinically. Due their potential for low-cost high strength, permanent magnets being considered MAT actuation. Great care must taken in vivo medical applications, however, systems single typically generate an attractive force, may cause trauma if uncontrolled. In this paper, present techniques managing force. We find that case rotating MATs a magnet (RPM), torque is primary form actuation, force substantially reduced magnitude time-averaged component eliminated when operating maximized. provide experimental demonstration validates illustrates management strategies presented.