Mathematical approach for the design configuration of magnetic system with multiple electromagnets

Magnetic actuation techniques and microrobots have attracted great interest since they potential in biomedicine applications. Interventional emerged as a tool to handle wide range of minimally invasive surgeries (MIS). However, current MIS procedures are constrained by the limitation manual operation surgeon. Thus, various microrobotic solutions including magnetic navigation systems been proposed for MIS, which carries many benefits such reduced incision, less intraoperative hemorrhaging postoperative pain, faster recovery time. In recent decades, electromagnetic (EMA) reported involved general surgery. The EMA system allows generate efficiently source microrobot control when its specifications further investigated satisfied desired application. To precisely manipulate biomedical microrobot, key issue still relies on design suitable platform. this paper, we demonstrate mathematical approach configuration with multiple electromagnets. Especially, required coil number has where heading motion control, force their combination discussed respectively. singular cases pre-evaluated analysis simulated field. addition, placed positions tilted orientations applied electromagnets optimization regarding six typical configurations platform 4, 6 8 coils. comprehensively analyzed. Therefore, optimal obtained approach, can be initially established.