Improving the steering performance of microrobots by using a magnetically actuated technique

• Published in: e-Prime Vol. 10; p. 100797
• Main Authors: Bresam, Anwar Hamza, Al-Mumen, Haider
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.12.2024; Elsevier
• Subjects: Deformation angle; Electromagnetic actuation; Magnetic Manipulation; Medical Robotics; Microrobot Steering; Medical Robotics; Microrobot Steering; Magnetic Manipulation; Electromagnetic actuation; Deformation angle
• ISSN: 2772-6711; 2772-6711
• DOI: 10.1016/j.prime.2024.100797

•An adaptable microrobot is developed with an effective technique to enhance steering.•Control over the angulation of the microrobots.•The finite element method (FEM) to analyze robot steering (deformation) angles in both upward and downward deformation for three types of microrobot design.•The microrobot driven by the EMA system could be controlled by the deformation angle.•A model for angular deformation analysis. Mobile microrobots show the significance of potential medical procedures and challenge areas within the human body. An applied electromagnetic field is used as a precise magnetic actuation system for controllable steering mobility, and positioning is used. In this work, an adaptable microrobot is developed with an effective technique to enhance steering. An electromagnetic system is employed to produce an external magnetic field that guides a microrobot to improve its steerability. In particular, a driving system of eight coils creates a magnetic field that actuates the microrobot and enables upward and downward motion. Accordingly, three types of microrobot designs are proposed. Consequently, an efficient variation of steering in terms of deformation angle is achieved. The corresponding performance is determined mathematically in terms of the main system parameters, such as external magnetic field and microrobot geometry. In addition, finite element model is used for comparison and validation. Simulation results show that for a relatively high value of magnet field, namely, 15 mT and 90°, the deformation angles were 36.98° for the first design, 39.11° for the second design, and 34.48° for the third design in upward deformation. By contrast, the downward deformation ranges were –40.42°, –39.46°, and –37.04° for the first, second, and third designs, respectively, at –90° The error between the upward and downward steering of the second design had the lowest value of 0.35° The second design of the microrobots has the least error between the upward and downward deformation ratio at 0.89 %. In comparison, the first design has a 9.3 % error, and the third design has a 7.42 % error, with a relatively high value of magnetic field density (15 mT). Simulations have shown that the proposed second design is suitable for navigating narrow artery branches with the least error ratio and more precise control. This work verifies that the model could accurately control the steering of microrobots.