A wireless microrobot with two motions for medical applications

摘要

This paper discussed the mechanism and control of a wireless robot using magnetic field. We developed wireless microrobot and driver system for the microrobot locomotion. The robot has two motion mechanisms. One is the spiral jet motion, and the other is the fin motion. The spiral jet motion can move by rotating its body. It is developed from the previous spiral motion with the implement of propulsive force and safety. Fin motion can move by vibrating its body. It's like a fin of the fish. Driving systems for the microrobot locomotion is composed of large 3 axes helmholtz coil and high sensitive magnetic sensor. Large 3 axes helmholtz coil system is used as the moving energy of the robot and control method. High sensitive magnetic sensor is used as the position detection of the robot. Based on the experimental results, we confirmed that the microrobot can be moved and controlled by using this system.