Force efficient analysis of a hybrid magnetic actuation system for minimally invasive diagnostics and interventions

Abstract

Minimally invasive diagnostics and interventions (MIDI) are emerging as major paradigm shifts in medical technology development and thus significant for elder care. Magnetic or electromagnetic guided devices have been introduced to MIDI due to the remote maneuverability which is critical to control and track the intracorporeal instruments. A category of magnetic actuation mechanism is investigated by the authors based on hybrid magnetic bearing (HMB) that can provide force suspension and locomotion. In this paper, force coefficient is investigated during the locomotion control using HMB. The force coefficient refers to the distribution ratio of permanent magnetic force and electromagnetic force in HMB. According to the definition of force coefficient, it can be concluded that the larger force coefficient is, and then the smaller power loss is. © 2013 Springer-Verlag Berlin Heidelberg.