On the Workspace of Electromagnetic Navigation Systems

In remote magnetic navigation, a navigation system is used to generate fields apply mechanical wrenches steer object. This technique can be applied navigate untethered micro- and nanorobots, as well tethered surgical tools for minimally invasive medicine. The design characterization of these systems have been extensively investigated over the past decade. determination region in space which operate has yet formalized within research community. commonly referred “workspace” constitutes central concept any class robotic system. We focus on comprised electromagnets propose first set definitions workspace, methodology determine it, evaluation metrics analyze its characteristics. Our are illustrated with several examples planar spatial electromagnetic both didactic realistic scenarios.