This paper presents the design, modeling, integration, and application of 3D printed high power hexapole magnetic tweezers for 3D micromanipulation applications. Six sharp-tipped magnetic poles were configured with electromagnetic coils and mounted on 3D printed magnetic yokes to form a tilted Cartesian coordinate system for actuation. A closed loop control algorithm was developed to automatically manipulate external power supplies connected to the magnetic tweezers, by using 3D positional information obtained from real-time image processing techniques. When compared against other designs of magnetic tweezers, our system has a larger working space and can generate higher magnetic field strengths. This allows for more diverse applications regarding small scale manipulation, including cell manipulation and cell therapy. Experiments and analytics explained in this paper demonstrate the closed-loop manipulation of micro-swimmers can provide a magnetic force as high as 800 pN while maintaining a positional error below 4 µm in 3D and 1.6 µm in 2D. Using the desired location as the control input, the microswimmers investigated were able to achieve arbitrary 2D and 3D trajectories. We also show that the implemented hexapole magnetic tweezers have adequate power to control microswimmers in Newtonian fluid environments. The system will later be optimized and deployed to control microswimmers in non-Newtonian fluid environments.

中文翻译：

---

使用大功率六极磁镊子进行3D微操作的闭环控制

本文介绍了用于3D微操作应用的3D打印高功率六极磁镊子的设计，建模，集成和应用。六个尖头磁极配置有电磁线圈，并安装在3D打印的磁轭上，以形成用于驱动的​​倾斜笛卡尔坐标系。通过使用从实时图像处理技术获得的3D位置信息，开发了一种闭环控制算法来自动操纵连接到磁镊子的外部电源。与其他设计的电磁镊子相比，我们的系统具有更大的工作空间，并且可以产生更高的磁场强度。这允许有关小规模操作（包括细胞操作和细胞治疗）的更多不同应用。本文中介绍的实验和分析表明，微游泳器的闭环操纵可提供高达800 pN的磁力，同时在3D中将位置误差保持在4 µm以下，在2D中将位置误差保持在1.6 µm以下。使用所需的位置作为控制输入，研究的微游泳者能够实现任意的2D和3D轨迹。我们还表明，已实施的六极磁镊子具有足够的功率来控制牛顿流体环境中的微扫描器。稍后将对该系统进行优化和部署，以控制非牛顿流体环境中的微游泳者。研究的微型游泳者能够实现任意的2D和3D轨迹。我们还表明，已实施的六极磁镊子具有足够的功率来控制牛顿流体环境中的微扫描器。稍后将对该系统进行优化和部署，以控制非牛顿流体环境中的微游泳者。研究的微型游泳者能够实现任意的2D和3D轨迹。我们还表明，已实施的六极磁镊子具有足够的功率来控制牛顿流体环境中的微扫描器。稍后将对该系统进行优化和部署，以控制非牛顿流体环境中的微游泳者。