NDLI: Development of a novel wireless microrobot in-pipe with hybrid motion

Content Provider	IEEE Xplore Digital Library
Author	Shuxiang Guo Xiang Wei Jian Guo Yunliang Wang
Copyright Year	2014
Description	Author affiliation: Tianjin Key Lab. for Control Theor. & Applic. in Complicated Syst., Tianjin Univ. of Technol., Tianjin, China (Shuxiang Guo; Xiang Wei; Jian Guo; Yunliang Wang)
Abstract	Non-invasive into the human digestive tract or artery, complete minimally invasive or non-invasive diagnosis and treatment have become a hot pursuit of the current international biomedical field. In this paper, a new kind of hybrid motion wireless microrobot in-pipe with gravity compensation had been designed, which had a more compact structure. By switching the rotation magnetic field and alternating magnetic field, the microrobot could realize the rotation motion and fish-like motion in pipe immediately. The microrobot with gravity compensation designed mechanism could achieve forward-backward and upward-downward motion in pipe easily with the similar dynamic characteristics and more efficient by much simpler control strategies. Based on the experiments, the effect on the spiral motion and fish-like motion had been evaluated. The experimental results indicated that hybrid microrobot Type A is superior to Type B, the maximum velocity of hybrid microrobot Type A is 29.5mm/s at 15Hz in the horizontal direction and 8.7mm/s at 14Hz in the vertical direction with input current of 0.7A. The wireless microrobot in-pipe controlled by external magnetic field will play a significant role in both industrial field and medical applications. Furthermore it will bring the gospel to diagnosis and treatment of the human gastrointestinal tract disease in the future.
Starting Page	1613
Ending Page	1618
File Size	571302
Page Count	6
File Format	PDF
ISBN	9781479939787
e-ISBN	9781479939794
DOI	10.1109/ICMA.2014.6885941
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-03
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Magnetic fields Spirals Gravity Wireless communication Mathematical model Coils Magnetic levitation Gravity compensation Hybrid motion Wireless microrobot Magnetic field
Content Type	Text
Resource Type	Article

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A control system of the wireless microrobots in pipe

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Performance evaluation of the wireless microrobot in pipe with symmetrical spiral structure

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