Year-end Sale % OFF 
Abstract
This paper proposes an effective method to manipulate the 2D motions of a magnetic small-scale robot (microrobot) within a relatively large working area using a triad of electromagnetic coils (TEC). The TEC is a combination of three identical circular coils placed at the vertices of an equilateral triangle. Since it is geometrically compact and requires only three control variables (input currents), the TEC can be effectively used to generate various magnetic fields that can be used to maneuver various functional microrobots. In this paper, we established several equations to calculate the input currents of the TEC required to move a microrobot along a designated pathway effectively and precisely. We also constructed an experimental setup to demonstrate and validate the controlled motions of the microrobot using the proposed method. The results showed that the proposed method can effectively improve the TEC’s practical working area (region of interest) for manipulating the microrobot, which can possibly be applied to biomedical and biological applications, including minimally invasive surgery, targeted drug and cargo delivery, microfluidic control, etc.
Highlights
Untethered small-scale robots with a dimension of a few millimeters or less have gained importance as precise and versatile devices in a variety of applications [1–5]
Magnetic microrobots actuated by a magnetic navigation system (MNS) have especially drawn a lot of attention for biomedical and biological applications, such as minimally invasive surgery [8–10], targeted drug and cargo delivery [11–13], and microfluidic control [14,15]
Unlike other microrobots, such as the ones based on chemical, ultrasound, or biohybrid mechanisms [16,17], the magnetic microrobot’s principle of manipulation is based on an external magnetic field whose generation, elimination, and modulation can be effectively controlled via the control of several input currents of an MNS [18]
Summary
Untethered small-scale robots with a dimension of a few millimeters or less (microrobots) have gained importance as precise and versatile devices in a variety of applications [1–5]. Magnetic microrobots actuated by a magnetic navigation system (MNS) have especially drawn a lot of attention for biomedical and biological applications, such as minimally invasive surgery [8–10], targeted drug and cargo delivery [11–13], and microfluidic control [14,15]. Unlike other microrobots, such as the ones based on chemical, ultrasound, or biohybrid mechanisms [16,17], the magnetic microrobot’s principle of manipulation is based on an external magnetic field whose generation, elimination, and modulation can be effectively controlled via the control of several input currents of an MNS [18]. Magnetic microrobots can be simplified and miniaturized with safe and wireless maneuverability, and they can be applied to many different environments including viscous fluid, vacuum space, and living organisms.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
