A novel hybrid microrobot using rotational magnetic field for medical applications.

Magnetically actuated microrobots for such tools have potential accomplish procedures in biological and medical applications. In this paper, a novel magnetically actuated hybrid microrobot with hybrid motion driven by an electromagnetic actuation system has been proposed. An o-ring type permanent magnet is embedded in the hybrid microrobot as an actuator driven by rotational magnetic field which is generated by a 3 axes Helmholtz coils. It is composed by two motion mechanisms. One is the spiral jet motion moved by rotating its body. The other one is fin motion moved by vibrating its body. Because only one permanent magnet is used inside the hybrid microrobot, two motions can be controlled separately without any interference. The hybrid microrobot can change its two motions to realize multi-DOFs movement and flexibility motion. The verified experiments are conducted in the pipe. The experimental results indicate that the moving speed can be controlled by adjusting the magnetic field changing frequency and the direction of motion can be controlled by changing the magnetic field direction.