ICRA 2015poster23 citations
Magnetically actuated and guided milli-gripper for medical applications
Franziska Ullrich, Kanika S. Dheman, Simone Schuerle, Bradley J. Nelson
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.
BibTeX
@inproceedings{icra2015_magneticallyactu,
title = {Magnetically actuated and guided milli-gripper for medical applications},
author = {Franziska Ullrich and Kanika S. Dheman and Simone Schuerle and Bradley J. Nelson},
booktitle = {ICRA 2015},
year = {2015}
}