Kavli Affiliate: Felix Fischer
| First 5 Authors: Felix Fischer, Christian Gletter, Moonkwang Jeong, Tian Qiu,
| Summary:
Magnetism is widely used for the wireless localization and actuation of
robots and devices for medical procedures. However, current static magnetic
localization methods suffer from large required magnets and are limited to only
five degrees of freedom due to a fundamental constraint of the rotational
symmetry around the magnetic axis. We present the small-scale
magneto-oscillatory localization (SMOL) method, which is capable of wirelessly
localizing a millimeter-scale tracker with full six degrees of freedom in deep
biological tissues. The SMOL device uses the temporal oscillation of a
mechanically resonant cantilever with a magnetic dipole to break the rotational
symmetry, and exploits the frequency-response to achieve a high signal-to-noise
ratio with sub-millimeter accuracy over a large distance of up to 12
centimeters and quasi-continuous refresh rates up to 200 Hz. Integration into
real-time closed-loop controlled robots and minimally-invasive surgical tools
are demonstrated to reveal the vast potential of the SMOL method.
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