Estimation of Interaction Forces between Two Magnetic Bolus-like Microrobots

Lyès Mellal (1, 2) , David Folio (1, 2) , Karim Belharet (3, 2) , Antoine Ferreira (1, 2)

1 INSA CVL - Institut National des Sciences Appliquées - Centre Val de Loire
2 PRISME - Laboratoire pluridisciplinaire de recherche en ingénierie des systèmes, mécanique et énergétique
3 IRAUS - Département Images, Robotique, Automatique et Signal [Orléans]

—This paper analyses the interaction forces between two magnetic boluses for future drug targeting applications. To transport the drugs, it is necessary to convey several therapeutic magnetic boluses using magnetic gradients. The main difficulty is to control a group of different therapeutic boluses at desired states, despite the presence of interaction forces between boluses. To overcome this issue and designing robust control strategies, it is important to fully understand these interactions forces. Based on a dipole-dipole interaction model and dynamic modeling of two magnetic boluses, the magnetic and non magnetic forces are expressed. Finally, an experimental investigation is carried out in a tank under the presence of the magnetic field in order to to assess the prevalence between the magnetic and the non-magnetic interaction forces.

Domaines: Automatique / Robotique

Lyès Mellal, David Folio, Karim Belharet, Antoine Ferreira. Estimation of Interaction Forces between Two Magnetic Bolus-like Microrobots. International Conference on Robotics, Manipulation, and Automation at Small Scales, Jul 2016, Paris, France. pp.1 - 6, ⟨10.1109/MARSS.2016.7561740⟩. ⟨hal-01414182⟩