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Article Dans Une Revue Robotics and Autonomous Systems Année : 2018

Macro–micromanipulation platform for inner ear drug delivery


This paper describes the pulling and steering of magnetic therapeutic microparticles for drug delivery based on a macro-micromanipulator system. The macromanipulation system is composed of a 6 Degree Of Freedom (6 DOF) serial manipulator while a linear permanent-based actuator (1 DOF) is equipped at the end-effector as a micropart to precisely steer and pull magnetic microparticles. Using the classical mathematical tools of robotics, we developed the global kinematic model of the robot-device assembly, thus defining a reference trajectory to propel the microparticles. A novel actuator-based permanent magnet has been designed and realized as a robot micro end-effector to control the trajectory of a microparticle along a millimeter-sized workspace. Simulations and experiments were conducted to show the ability of the macro-micromanipulator system to steer particles on a viscous fluid simulating a biological media. (C) 2018 Published by Elsevier B.V.
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Dates et versions

hal-01923875 , version 1 (15-11-2018)



W. Amokrane, K. Belharet, M. Souissi, A. Bozorg Grayeli, A. Ferreira. Macro–micromanipulation platform for inner ear drug delivery. Robotics and Autonomous Systems, 2018, 107, pp.10 - 19. ⟨10.1016/j.robot.2018.05.002⟩. ⟨hal-01923875⟩
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