Multiscale Design and Modeling of Protein-based Nanomechanisms for Nanorobotics
International Journal of Robotics Research
Modeling and Experimental Characterization of an Untethered Magnetic Micro-Robot
International Journal of Robotics Research
International Journal of Robotics Research
Wide-Angle Intraocular Imaging and Localization
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
A paddling type of microrobot in pipe
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Wide-angle localization of intraocular devices from focus
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Three-dimensional electromagnetic actuation system for intravascular locomotion
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Micromanipulation using artificial bacterial flagella
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Small, Fast, and Under Control: Wireless Resonant Magnetic Micro-agents
International Journal of Robotics Research
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Bacteria integrated swimming microrobots
50 years of artificial intelligence
Development of a paddling type of microrobot for biomedical application
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
OctoMag: an electromagnetic system for 5-DOF wireless micromanipulation
IEEE Transactions on Robotics
Automatic Documentation and Mathematical Linguistics
A Novel Swimming Microrobot Based on Artificial Cilia for Biomedical Applications
Journal of Intelligent and Robotic Systems
Steerable intravitreal inserts for drug delivery: in vitro and ex vivo mobility experiments
MICCAI'11 Proceedings of the 14th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Oscillatory motion-based miniature magnetic walking robot actuated by a rotating magnetic field
Robotics and Autonomous Systems
Automatic Documentation and Mathematical Linguistics
Automated biomanipulation of single cells using magnetic microrobots
International Journal of Robotics Research
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This paper investigates fundamental design, modeling, and control issues related to untethered biomedical microrobots guided inside the human body through external magnetic fields. Proposed areas of application for these microrobots include sensing, diagnosis, and surgical procedures in intraocular, cardiovascular, and inner-ear environments. A prototype microrobot and steering system are introduced. Fluid drag experiments performed on the prototype robot show that the 950 × 400 &mgr;m elliptical shape has a spherical equivalent diameter of 477 &mgr;m. Drag forces combined with saturation magnetization (5 × 10 5 A/m) of the prototype indicate that the required magnetic field gradients for application inside the vitreous humor and blood vessels are on the order of 0.7T/m.