Development of a wireless hybrid microrobot for biomedical applications

• Published in: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 5768 - 5773
• Main Authors: Qinxue Pan, Shuxiang Guo, Okada, Takuya
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2010
• Subjects: Coils; Current measurement; Magnetic fields; Magnetic flux; Robots; Solenoids; Wireless communication
• ISBN: 9781424466740; 1424466741
• ISSN: 2153-0858; 2153-0866
• DOI: 10.1109/IROS.2010.5652965

In this paper, to deal with the locomotion and performance in pipe or even in blood vessel condition, we design a novel type of hybrid microrobot that has characteristics of multi-functions, controllability, stability. The hybrid microrobot has simple structure, simple control method, and good dynamic. We develop the microrobot composed of rotating motion and fish-like locomotion to realize the wireless controllability capable of swimming and rotating motion. We design the rotation magnetic field, the motion mechanism of rotating motion and fish-like motions have been analyzed as well. Also, we design the hybrid microrobot by combining the rotating motion and fish-like fin motion. By applying the rotation magnetic field, we carried out the evaluating experiments for rotating motion and moving motion in a pipe. The experimental results indicated that, for the rotating motion, the rotating speed of 87rad/s and moving speed of 58mm/s; for the hybrid microrobot, the moving speed of 48mm/s can be obtained via frequency of the input current. Additionally, it is demonstrated that the microrobot has a rapid response. This microrobot will play an important role in both industrial and medical applications such as microsurgery.