Control of the wireless microrobot with multi-DOFs locomotion for medical applications

In this paper, we discuss a multi-DOFs locomotion and position detection system of the microrobot to realize the wireless locomotion. Also we propose one wireless microrobot with two motions controlled by changing the outside magnetic field. When generating alternating magnetic field, the microrobot can be driven by the fin motion just like fish. When generating rotating magnetic field, the microrobot can move in the spiral jet motion. Based on the experimental results of the locomotion, we confirm that the microrobot can move in forward, backward, floating motion and turning motion. In addition, we have developed a position detection system of the microrobot. We use least square method to solve the inverse problem. To evaluate the error of the proposed position detection system, we will do experiment by using 6 magnetic field sensors and program. Base on this experiment, we also confirm that the proposed position detection system can detect the position of the microrobot within 50mm from sensor in vertical direction, and its average error is within 6.09mm.