Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 25, Issue 5-6, Pages 527-536Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364906065389
Keywords
biomedical; microrobotics; wireless microrobot; magnetic microrobot; MEMS; microassembly
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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 mu m elliptical shape has a spherical equivalent diameter of 477 mu m. Drag forces combined with saturation magnetization (5 x 10(5) 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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