Performance evaluation of amagnetically actuated capsulemicrorobotic system formedical applications

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.