How Should Microrobots Swim?

Abbott, Jake J.; Peyer, Kathrin E.; Dong, Lixin; Nelson, Bradley J.

doi:10.1007/978-3-642-14743-2_14

Cited by 55 publications

(50 citation statements)

References 16 publications

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“…However, if magnetic force is applied to the microrobot as it is rotated, the magnetic force will sum with the fluidic propulsive force, resulting in higher manipulation forces. Considering the desirable propulsive properties of helical magnetic swimmers as they are scaled down [44], this may actually result in larger useful pushing force than is possible with the type of microrobots shown in this paper.…”

Section: Discussionmentioning

confidence: 99%

OctoMag: An electromagnetic system for 5-DOF wireless micromanipulation

Kratochvil

Kummer

Abbott

et al. 2010

2010 IEEE International Conference on Robotics and Automation

113

155

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Abstract-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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Section: Discussionmentioning

confidence: 99%

OctoMag: An electromagnetic system for 5-DOF wireless micromanipulation

Kratochvil

Kummer

Abbott

et al. 2010

2010 IEEE International Conference on Robotics and Automation

113

155

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“…Due to the micrometer dimensions of these robots, the flow regime is viscous dominated (low-Reynold's number), unlike the motion of millimeter-sized GI robots in the liquid-distended stomach, where inertial-forces dominant the viscous forces and propeller-based locomotion has been found to be useful. 40 Abbott et al 185 have compared various low-Reynold's number robotic swimming strategies in their article "How should microrobots swim?" In a follow-up article, Peyer et al reviewed bio-inspired magnetic swimming microrobots for biomedical applications.…”

Section: C Magnetic Microroboticsmentioning

confidence: 99%

Magnetically guided capsule endoscopy

et al. 2017

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Wireless capsule endoscopy (WCE) is a powerful tool for medical screening and diagnosis, where a small capsule is swallowed and moved by means of natural peristalsis and gravity through the human gastrointestinal (GI) tract. The camera-integrated capsule allows for visualization of the small intestine, a region which was previously inaccessible to classical flexible endoscopy. As a diagnostic tool, it allows to localize the sources of bleedings in the middle part of the gastrointestinal tract and to identify diseases, such as inflammatory bowel disease (Crohn's disease), polyposis syndrome, and tumors. The screening and diagnostic efficacy of the WCE, especially in the stomach region, is hampered by a variety of technical challenges like the lack of active capsular position and orientation control. Therapeutic functionality is absent in most commercial capsules, due to constraints in capsular volume and energy storage. The possibility of using body-exogenous magnetic fields to guide, orient, power, and operate the capsule and its mechanisms has led to increasing research in Magnetically Guided Capsule Endoscopy (MGCE). This work shortly reviews the history and state-of-art in WCE technology. It highlights the magnetic technologies for advancing diagnostic and therapeutic functionalities of WCE. Not restricting itself to the GI tract, the review further investigates the technological developments in magnetically guided microrobots that can navigate through the various air-and fluid-filled lumina and cavities in the body for minimally invasive medicine.

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“…Therefore, to generate propulsion in the low Reynolds number, making an irreversible motion is needed, for example a flexible oar motion and a corkscrew motion [36] that mimic that of many bacteria. There is a comparison between these two swimming modes showing that they have very comparable peak performance [37]. In addition to these two methods, there are other propulsion principles for micro robots that would work for the low Reynolds number, for example, the "Purcell's three-link swimmer" [36].…”

Section: Propulsion By Irreversible Strokesmentioning

confidence: 99%

Mini and Micro Propulsion for Medical Swimmers

Feng

Cho

2014

Micromachines

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Mini and micro robots, which can swim in an underwater environment, have drawn widespread research interests because of their potential applicability to the medical or biological fields, including delivery and transportation of bio-materials and drugs, bio-sensing, and bio-surgery. This paper reviews the recent ideas and developments of these types of self-propelling devices, ranging from the millimeter scale down to the micro and even the nano scale. Specifically, this review article makes an emphasis on various propulsion principles, including methods of utilizing smart actuators, external magnetic/electric/acoustic fields, bacteria, chemical reactions, etc. In addition, we compare the propelling speed range, directional control schemes, and advantages of the above principles.

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How Should Microrobots Swim?

Cited by 55 publications

References 16 publications

OctoMag: An electromagnetic system for 5-DOF wireless micromanipulation

OctoMag: An electromagnetic system for 5-DOF wireless micromanipulation

Magnetically guided capsule endoscopy

Mini and Micro Propulsion for Medical Swimmers

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