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Micromachines 2018, 9(12), 641; https://doi.org/10.3390/mi9120641

Performance Evaluation of a Magnetically Actuated Capsule Microrobotic System for Medical Applications

1
Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory, School of Electrical and Electronic Engineering, Tianjin University of Technology, Binshui Xidao 391, Tianjin 300384, China
2
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
3
School of Life Science, Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, The Ministry of Industry and Information Technology, The Institute of Advanced Biomedical Engineering System, Beijing Institute of Technology, Beijing 100081, China
4
Faculty of Engineering, Kagawa University, Takamatsu 761-0396, Japan
*
Authors to whom correspondence should be addressed.
Received: 23 October 2018 / Revised: 8 November 2018 / Accepted: 14 November 2018 / Published: 4 December 2018
(This article belongs to the Special Issue Microswimmer)
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Abstract

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. View Full-Text
Keywords: magnetic actuated capsule microrobotic system; magnetically actuated hybrid microrobot; rotational magnetic field plane; magnetic field changing frequency magnetic actuated capsule microrobotic system; magnetically actuated hybrid microrobot; rotational magnetic field plane; magnetic field changing frequency
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Fu, Q.; Zhang, S.; Guo, S.; Guo, J. Performance Evaluation of a Magnetically Actuated Capsule Microrobotic System for Medical Applications. Micromachines 2018, 9, 641.

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