Isichei, BenedictBecker, Aaron T.Leclerc, Julien2019-10-012019-10-018/6/2018Copyright 2018 IEEE Robotics and Automation Letters. This is a pre-print version of a published paper that is available at: https://ieeexplore.ieee.org/abstract/document/8425723 Recommended citation: Leclerc, Julien, Benedict Isichei, and Aaron T. Becker. "A Magnetic Manipulator Cooled With Liquid Nitrogen." IEEE Robotics and Automation Letters 3, no. 4 (2018): 4367-4374. DOI: 10.1109/LRA.2018.2863358 This item has been deposited in accordance with publisher copyright and licensing terms with author's permission.https://hdl.handle.net/10657/4906Miniature robots manipulated by external magnetic fields could enable less invasive surgeries. Magnetic tools, capsules, or medication can be controlled inside a human body using electromagnets. However, resistive magnetic devices able to produce strong magnetic fields in a large volume inefficiently use space and energy. This letter presents the design and testing of a magnetic manipulator cooled with liquid nitrogen. This technique reduces the electrical resistance of copper wires. It, therefore, reduces the amount of heat generated to produce a given magnetic field. Liquid nitrogen-cooled electromagnets are smaller than air-cooled ones and use less power. This letter examines how both effects scale with the size of the workspace. The system presented possesses six electromagnets and its ability to control a robot is demonstrated experimentally.en-USMagnetic resonance imagingCoilsMagnetic coresManipulatorsNitrogenElectromagnetsArticle