| Volume 25 Issue 5/6 - Publication Date: 1 May/June 2006 |
| Special Issue on the Ninth International Symposium
on Experimental Robotics, 2004 |
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| Modeling and Control of Untethered
Biomicrorobots in a Fluidic Environment Using Electromagnetic Fields |
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| K. B. Yesin, K. Vollmers,
and B. J. Nelson Institute of Robotics and Intelligent Systems,
ETH Zürich, 8092 Zürich, Switzerland |
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| This paper investigates fundamental
design, modeling, and control issues related to untethered biomedical microrobots
guided inside the human body through external magnetic fields. Proposed
areas of application for these microrobots include sensing, diagnosis, and
surgical procedures in intraocular, cardiovascular, and inner-ear environments.
A prototype microrobot and steering system are introduced. Fluid drag experiments
performed on the prototype robot show that the 950 x 400 mm elliptical shape
has a spherical equivalent diameter of 477 mm. Drag forces combined with
saturation magnetization (5 x 105 A/m) of the prototype indicate that the
required magnetic field gradients for application inside the vitreous humor
and blood vessels are on the order of 0.7 T/m. |
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| Multimedia Key |
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 = Data |
= Code |
= Image |
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Extension |
Type |
Description |
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1 |
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Example
1: Magnetically driving the micro robot through the maze. (500
kb) |
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