Magnetic actuation techniques and microrobots have attracted great interest since they have potential in biomedicine applications. Interventional techniques have emerged as a tool to handle a wide range of minimally invasive surgeries (MIS). However, current MIS procedures are constrained by the limitation of manual operation by surgeon. Thus, various microrobotic solutions including magnetic navigation systems have been proposed for MIS, which carries many potential benefits such as reduced incision, less intraoperative hemorrhaging and postoperative pain, and faster recovery time. In recent decades, many electromagnetic actuation (EMA) systems have been reported and involved to general surgery. The EMA system allows to generate efficiently magnetic source for microrobot control when its specifications are further investigated and satisfied for the desired application. To precisely manipulate the biomedical microrobot, a key issue still relies on the design of a suitable EMA platform. In this paper, we demonstrate a mathematical approach for the design configuration of magnetic system with multiple electromagnets. Especially, the required magnetic coil number has been investigated where the heading motion control, magnetic force control and their combination control are discussed respectively. The singular cases of control are pre-evaluated by a mathematical analysis of the simulated electromagnetic field. In addition, the placed positions and tilted orientations of the applied electromagnets are investigated for the optimization regarding the six typical configurations of EMA platform with 4, 6 and 8 coils. The various configurations of EMA systems have been comprehensively analyzed. Therefore, with the number of electromagnets and their optimal configuration obtained by the proposed approach, the EMA system can be initially established.

电磁驱动技术和微型机器人吸引了极大的兴趣，因为它们在生物医学应用中具有潜力。介入技术已经成为处理广泛的微创手术（MIS）的工具。但是，当前的MIS程序受到外科医生手动操作的限制。因此，已经提出了包括磁性导航系统在内的各种微型机器人解决方案用于MIS，它具有许多潜在的好处，例如减少切口，减少术中出血和术后疼痛以及恢复时间更快。在最近的几十年中，已经报道了许多电磁致动（EMA）系统，并涉及到普通外科手术。当进一步研究其规格并满足所需应用时，EMA系统可为微型机器人控制产生有效的磁源。要精确地操纵生物医学微型机器人，关键问题仍然取决于合适的EMA平台的设计。在本文中，我们演示了一种用于设计具有多个电磁体的磁性系统的数学方法。特别是，研究了所需的电磁线圈数量，分别讨论了航向运动控制，磁力控制及其组合控制。通过对模拟电磁场的数学分析，可以预先评估控制的奇异情况。此外，针对4、6和8个线圈的EMA平台的六个典型配置，研究了所施加电磁体的放置位置和倾斜方向，以进行优化。EMA系统的各种配置已得到全面分析。因此，利用通过所提出的方法获得的电磁体的数量及其最佳配置，可以初步建立EMA系统。