Development and Evaluation of Novel Magnetic Actuated Microrobot with Spiral Motion Using Electromagnetic Actuation System

被引：28
作者：
Fu, Qiang [1 ]
Guo, Shuxiang [2 ,3 ]
Huang, Qiang [2 ]
Hirata, Hideyuki [3 ]
Ishihara, Hidenori [3 ]
机构：
[1] Kagawa Univ, Grad Sch Engn, 2217-20 Hayashi Cho, Takamatsu, Kagawa 7610396, Japan
[2] Beijing Inst Technol, Key Lab Convergence Med Engn Syst & Healthcare Te, Minist Ind & Informat Technol, Beijing 100081, Peoples R China
[3] Kagawa Univ, Intelligent Mech Syst Engn Dept, 2217-20 Hayashi Cho, Takamatsu, Kagawa 7610396, Japan
来源：
JOURNAL OF MEDICAL AND BIOLOGICAL ENGINEERING | 2016年 / 36卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Magnetic spiral microrobot; Electromagnetic actuation system; Archimedes screw structure; Wireless power supply; DESIGN; ROBOT; MANIPULATION; LOCOMOTION; MECHANISM;
D O I：
10.1007/s40846-016-0147-7
中图分类号：
R318 [生物医学工程];
学科分类号：
0831 ;
摘要：
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.
引用
收藏
页码：506 / 514
页数：9
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