Magnetically actuated microrobots for such tools have potential accomplish procedures in biological and medical applications. In this paper, a novel magnetically actuated hybrid microrobot with hybrid motion driven by an electromagnetic actuation system has been proposed. An o-ring type permanent magnet is embedded in the hybrid microrobot as an actuator driven by rotational magnetic field which is generated by a 3 axes Helmholtz coils. It is composed by two motion mechanisms. One is the spiral jet motion moved by rotating its body. The other one is fin motion moved by vibrating its body. Because only one permanent magnet is used inside the hybrid microrobot, two motions can be controlled separately without any interference. The hybrid microrobot can change its two motions to realize multi-DOFs movement and flexibility motion. The verified experiments are conducted in the pipe. The experimental results indicate that the moving speed can be controlled by adjusting the magnetic field changing frequency and the direction of motion can be controlled by changing the magnetic field direction.

The paper aims to propose a magnetic actuated capsule microrobotic system, which is composed of a magnetically actuated microrobot with a screw jet mechanism, a driving system, and a positioning system. The magnetically actuated microrobot embedded an O-ring magnet as an actuator has potential for achieving a particular task, such as medical diagnose or drug delivery. The driving system composes of a three axes Helmholtz coils to generate a rotational magnetic field for controlling the magnetically actuated microrobot to realize the basic motion in pipe, e.g., forward/backward motion and upward/downward motion. The positioning system is used to detect the pose of the magnetically actuated microrobot in pipe. We will discuss the shape of the Helmholtz coils and the magnetic field around the O-ring magnet to obtain an optimal performance of the magnetically actuated microrobot. The experimental result indicated that the microrobot with screw jet motion has a flexible movement in pipe by adjusting the rotational magnetic field plane and the magnetic field changing frequency.

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In this paper, we discuss a multi-DOFs locomotion and position detection system of the microrobot to realize the wireless locomotion. Also we propose one wireless microrobot with two motions controlled by changing the outside magnetic field. When generating alternating magnetic field, the microrobot can be driven by the fin motion just like fish. When generating rotating magnetic field, the microrobot can move in the spiral jet motion. Based on the experimental results of the locomotion, we confirm that the microrobot can move in forward, backward, floating motion and turning motion. In addition, we have developed a position detection system of the microrobot. We use least square method to solve the inverse problem. To evaluate the error of the proposed position detection system, we will do experiment by using 6 magnetic field sensors and program. Base on this experiment, we also confirm that the proposed position detection system can detect the position of the microrobot within 50mm from sensor in vertical direction, and its average error is within 6.09mm.

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