Electromagnetic coil system for 6-dof microrobot

• Main Author: Li, Tiancheng
• Other Authors: Ang Wei Tech
• Format: Thesis-Master by Coursework
• Language: English
• Published: Nanyang Technological University 2020
• Subjects: Science::Physics::Electricity and magnetism
• Online Access: https://hdl.handle.net/10356/142902
• Institution: Nanyang Technological University

Oocyte penetration and assisted hatching are essential parts of ICSI. Since the traditional micropipette manipulation has constraints in cell rotational motion, another control method is needed. An electromagnetic-coil-based platform with nine coils is presented. The platform can guide the microrobot and provide a sufficient support force when the oocyte penetration is operating. The components such as the cooling system, visual feedback system, and the power supply system are involved. The main work in the report included: analyze the range of oocyte penetration force, design the platform based on the force requirement, and select the components for the other system. Finally, the Hertz contact model exhibits a maximum force of 1.7×10^(-7) N, and the corresponding magnetic gradient turns to 1T/m. A coil system with a cylinder length of 80mm, cylinder diameter of 40mm, and eight warps of AWG15 copper wire is designed, which can generate enough gradient to perform oocyte penetration.