Magnetic Torque-Driven All-Terrain Microrobots.

Abstract

All-terrain microrobots possess significant potential in modern medical applications due to their superior maneuverability in complex terrains and confined spaces. However, conventional microrobots often struggle with adaptability and operational difficulties in variable environments. This study introduces a magnetic torque-driven all-terrain multiped microrobot (MTMR) to address these challenges. By coupling the structure's multiple symmetries with different uniform magnetic fields, such as rotating and oscillating fields, the MTMR demonstrates various locomotion modes, including rolling, tumbling, walking, jumping, and their combinations. Experimental results indicate that the robot can navigate diverse terrains, including flat surfaces, steep slopes (up to 75°), and gaps over twice its body height. Additionally, the MTMR performs well in confined spaces, capable of passing through slits (0.1 body length) and low tunnels (0.25 body length). The robot shows potential for clinical applications like minimally invasive hemostasis in internal bleeding and thrombus removal from blood vessels through accurate cargo manipulation capability. Moreover, the MTMR can carry temperature sensors to monitor environmental temperature changes in real time while simultaneously manipulating objects, displaying its potential for in-situ sensing and parallel task implementation. This all-terrain microrobot technology demonstrates notable adaptability and versatility, providing a solid foundation for practical applications in interventional medicine.