A novel hybrid microrobot using rotational magnetic field for medical applications

Abstract

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.

Characteristic Evaluation of a Shrouded Propeller Mechanism for a Magnetic Actuated Microrobot

“…The positioning system is used to accomplish a close-loop control and ensure the robot achieves the task. Consequently, the doctor appears to accurately control the position and posture of the wireless microrobot in the human body [32].…”

“…The positioning system is used to accomplish a close-loop control and ensure the robot achieves the task. Consequently, the doctor appears to accurately control the position and posture of the wireless microrobot in the human body [32]. To evaluate the performance of the proposed two type microrobots, we used two types Helmholtz coils, Helmholtz coils with an iron core and Helmholtz coils without an iron core, to control the microrobot movement in the water.…”

“…Secondly, the rotational speed of the magnetic actuated microrobot is controlled by adjusting the frequency of the electric current. The displacement of the copper beam was obtained using a laser displacement sensor (KEYENCE LB-1000), and the propulsive force of the magnetic actuated microrobot was calculated using Equation (7), which is given by Fu et al [32].…”

“…Recently, remote control of the magnetic actuated microrobot using a magnetic field has been popular and developed due to realize external wireless energy supply [12,26,[30][31][32][33][34]. One of the microrobots is called a fish-like microrobot.…”

“…In other words, when the microrobot rotates inside the intestine, the intestinal wall may cause damage due to the rotating friction between the bare spiral propeller and the intestinal wall. Therefore, we proposed a conceptual hybrid microrobot to reduce patient pain and discomfort [32]. However, further clinical application is needed in order to produce a robot that is capable of treating disease, diagnosing intestinal problems and conducting minimal invasive surgery.…”