Performance Evaluation of a Magnetically Actuated Capsule Microrobotic System for Medical Applications

被引：29
作者：
Fu, Qiang [1 ,2 ]
Zhang, Songyuan [3 ]
Guo, Shuxiang [4 ,5 ]
Guo, Jian [1 ,2 ]
机构：
[1] Tianjin Univ Technol, Tianjin Key Lab Control Theory & Applicat Complic, Binshui Xidao 391, Tianjin 300384, Peoples R China
[2] Tianjin Univ Technol, Sch Elect & Elect Engn, Biomed Robot Lab, Binshui Xidao 391, Tianjin 300384, Peoples R China
[3] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Heilongjiang, Peoples R China
[4] Beijing Inst Technol, Inst Adv Biomed Engn Syst, Key Lab Convergence Med Engn Syst & Healthcare Te, Minist Ind & Informat Technol,Sch Life Sci, Beijing 100081, Peoples R China
[5] Kagawa Univ, Fac Engn, Takamatsu, Kagawa 7610396, Japan
来源：
MICROMACHINES | 2018年 / 9卷 / 12期
关键词：
magnetic actuated capsule microrobotic system; magnetically actuated hybrid microrobot; rotational magnetic field plane; magnetic field changing frequency; DESIGN; ROBOT;
D O I：
10.3390/mi9120641
中图分类号：
O65 [分析化学];
学科分类号：
070302 ; 081704 ;
摘要：
The paper aims to propose a magnetic actuated capsule microrobotic system, which is composed of a magnetically actuated microrobot with a screw jet mechanism, a driving system, and a positioning system. The magnetically actuated microrobot embedded an O-ring magnet as an actuator has potential for achieving a particular task, such as medical diagnose or drug delivery. The driving system composes of a three axes Helmholtz coils to generate a rotational magnetic field for controlling the magnetically actuated microrobot to realize the basic motion in pipe, e.g., forward/backward motion and upward/downward motion. The positioning system is used to detect the pose of the magnetically actuated microrobot in pipe. We will discuss the shape of the Helmholtz coils and the magnetic field around the O-ring magnet to obtain an optimal performance of the magnetically actuated microrobot. The experimental result indicated that the microrobot with screw jet motion has a flexible movement in pipe by adjusting the rotational magnetic field plane and the magnetic field changing frequency.
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页数：16
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