Development and Evaluation of Novel Magnetic Actuated Microrobot with Spiral Motion Using Electromagnetic Actuation System
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- 作者：Qiang Fu ; Shuxiang Guo ; Qiang Huang…
- 关键词：Magnetic spiral microrobot ; Electromagnetic actuation system ; Archimedes screw structure ; Wireless power supply
- 刊名：Journal of Medical and Biological Engineering
- 出版年：2016
- 出版时间：August 2016
- 年：2016
- 卷：36
- 期：4
- 页码：506-514
- 全文大小：971 KB
- 刊物类别：Biomedical Engineering; Cell Biology; Imaging / Radiology;
- 刊物主题：Biomedical Engineering; Cell Biology; Imaging / Radiology;
- 出版者：Springer Berlin Heidelberg
- ISSN：2199-4757
- 卷排序：36
文摘
In this study, a magnetic spiral microrobot is proposed for tasks such as diagnosis, drug delivery, and minimally invasive surgery. It has a compact structure with a wireless power supply, low voltage, and a long working time. The microrobot is comprised of a spiral outer shell based on the Archimedes screw structure and an O-ring magnet for an actuator. The Archimedes screw structure produces an axial propulsive force due to the torsional moment generated by a magnetic field and embedded magnet, which rotates in the direction of interest. Microrobots with different numbers of spirals are manufactured to evaluate the effect of spiral number on speed. Moreover, we developed an electromagnetic actuation system to accomplish wireless real-time control via a Phantom Omni device. By adjusting the control signals, the microrobot achieved flexible motion in a pipe with good performance.