Abstract
Untethered and wirelessly-controlled microrobots have many applications in the field of biomedicine. Therefore, many laboratories and scientists have invested more scientific research into magnetic microrobots which can make more contributions to medical care. Many magnetic field devices and microrobots are manufactured. In the development of micro-robots, helical microrobots have been well developed. Rigid-body robots account for the majority of these, but they may cause damage to human organs during treatment. However, soft and deformable robots can relieve more medical restrictions. In general, helical microrobots are driven by uniform fields which have their own limitations while the gradient magnetic field can relieve more restrictions and have more functions. This paper presents a flexible deformable helical swimmer controlled in a rotating gradient magnetic field. Helical swimmers are covered with magnetic nano-particles and the helical structure is derived from the inner fiber structure of the lotus root. The soft helical swimmers are controlled to swim several special trajectories in the rotating gradient magnetic field and we analyze the frequency and other factors for velocity or other effects.
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