Magnetically actuated and guided milli-gripper for medical applications

Ullrich F, Dheman KS, Schuerle S, Nelson BJ (2015)

Publication Type: Conference contribution

Publication year: 2015

Journal

Proceedings - IEEE International Conference on Robotics and Automation Institute of Electrical and Electronics Engineers

Publisher: Institute of Electrical and Electronics Engineers Inc.

Book Volume: 2015-June

Pages Range: 1751-1756

Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation

Event location: Seattle, WA, USA

ISBN: 9781479969234

DOI: 10.1109/ICRA.2015.7139424

Abstract

This paper presents the design, kinematics, fabrication, and magnetic manipulation of a milli-gripper for medical applications. The design employs a permanent magnet for two purposes. It actuates the compliant gripper and allows for maneuverability of the milli-gripper in an externally applied magnetic field generated by an electromagnetic manipulation system. The modular milli-gripper can be manipulated directly or attached to the distal tip of a magnetically steered catheter. Experiments show successful actuation of the gripper and guidance of the device with the integrated gripper in both the tethered and untethered configuration.

Involved external institutions

Eidgenössische Technische Hochschule Zürich (ETHZ) / Swiss Federal Institute of Technology in Zurich CH Switzerland (CH) Massachusetts Institute of Technology (MIT) US United States (USA) (US)

How to cite

APA:

Ullrich, F., Dheman, K.S., Schuerle, S., & Nelson, B.J. (2015). Magnetically actuated and guided milli-gripper for medical applications. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1751-1756). Seattle, WA, USA: Institute of Electrical and Electronics Engineers Inc..

MLA:

Ullrich, Franziska, et al. "Magnetically actuated and guided milli-gripper for medical applications." Proceedings of the 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA Institute of Electrical and Electronics Engineers Inc., 2015. 1751-1756.

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