We demonstrate five-degree-of-freedom (5-DOF) wireless magnetic control of a fully untethered microrobot (3-DOF position and 2-DOF pointing orientation). The microrobot can move through a large workspace and is completely unrestrained in the rotation DOF. We accomplish this level of wireless control with an electromagnetic system that we call OctoMag. OctoMag's unique abilities are due to its utilization of complex nonuniform magnetic fields, which capitalizes on a linear representation of the coupled field contributions of multiple soft-magnetic-core electromagnets acting in concert. OctoMag was primarily designed to control intraocular microrobots for delicate retinal procedures, but it also has potential uses in other medical applications or micromanipulation under an optical microscope.

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Abstract-The influence of oxygen on various ophthalmological complications is not completely understood and intraocular oxygen measurements are essential for better diagnosis and treatment. A magnetically controlled wireless sensor device is proposed for minimally invasive intraocular oxygen concentration measurements. This device will make it possible to make measurements at locations that are currently too invasive for human intervention by integrating a luminescence optical sensor and a magnetic steering system. The sensor works based on quenching of luminescence in the presence of oxygen. A novel iridium phosphorescent complex is designed and synthesized for this system. A frequency-domain lifetime measurement approach is employed because of the intrinsic nature of the lifetime of luminescence. Experimental results of the oxygen sensor together with magnetic and hydrodynamic characterization of the sensor platform are presented to demonstrate the concept. In order to use this sensor for in vivo intraocular applications, the size of the sensor must be reduced, which will require an improved signal-to-noise ratio.

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We calculate the torque and force generated by an arbitrary magnetic field on an axially symmetric soft-magnetic body. We consider the magnetization of the body as a function of the applied field, using a continuous model that unifies two disparate magnetic models. The continuous torque and force follow. The model is verified experimentally, and captures the often-neglected region between weak and saturating fields, where interesting behavior is observed. We provide the optimal field direction for a given field magnitude. We find a maximum possible torque, which can be generated with relatively weak applied fields. This paper facilitates systems-level analysis, simulation, and real-time control of soft-magnetic bodies.