Wireless magnetic-based control of paramagnetic microparticles

This work investigates modeling and control of microparticles that could be guided inside the human body using external magnetic fields. Proposed areas of applications for these microparticles include but not limited to minimally invasive surgeries, diagnosis and sensing. The problem is formulated by modeling a magnetic prototype system which has been developed for the purpose of wireless motion control of microparticles. A control system is devised based on the way-point approach to control the navigation of the microparticles in a fluid. In addition, a path planning procedure based on a combination of the potential field and the A ∗ approaches is investigated in order to control the motion of the microparticles in the presence of static and dynamic obstacles. The experimental verification is conducted on a magnetic system designed for manipulation of microparticles. The experimental results demonstrates the motion control of microparticles with maximum steady state position tracking error of 8.6 μm within a 2.4 mm×1.8 mm workspace.