We propose a novel closed-circuit magnetic navigation system (CMNS), which utilizes eight electromagnets connected by back yokes to maximize field. first show the effectiveness of closed circuit (CMC) and conduct parametric analysis design single CMC, is utilized construct whole CMNS. A field mapping method also developed utilizing finite-element polynomial regression evaluate control over almost workspace in real time. investigated how changed based on shape core tips comparing isotropic...

We developed a magnetic navigation system (MNS) composed of field control part and robot arm to precisely the position posture capsule endoscope (CE). The generates by controlling magnetization directions dual permanent magnets (PMs) using motors, supports freely moves in three dimensions. First, we calculated generated PMs MNS utilizing point-dipole approximation, force between CE. set up an optimal design problem determine rotational angles direction align CE given direction. validated...

We propose an untethered flexible-legged magnetic robot (FLMR) manipulated by external rotating field (ERMF) to generate effective locomotion and precise unclogging motion treat vascular diseases. The proposed FLMR is composed of a front body with drill tip, cylindrical permanent magnet, rear body, flexible legs. legs are obliquely attached the bodies like blades propeller, so that can propulsive force in fluidic environment for motions. To provide manipulation guidelines motions, we...

We propose a novel magnetic helical robot (HR) that can helically navigate, release drug to target area, and generate mechanical drilling motion unclog tubular structures of the human body. The proposed HR is composed two rotating cylindrical magnets (RMs), four fixed (FMs), RMs be rotated in different directions under orthogonal external fields (ERMF). Utilizing these ERMFs, we various motions. ERMF along axis drug-release motion, while navigating On other hand, torque attractive force...

A multifunctional magnetic catheter robot (MCR) is proposed in this article to treat occlusive vascular disease by generating steering, tunneling, and stent delivery motions. Using external fields generated a closed-loop navigation system, the MCR can be manipulated remotely generate each motion manipulation methods. The has novel structures with joint tension springs for selective delivery. Constraints dynamic model are derived specify conditions treatment motions design parameters of MCR....

This research proposes a navigating and drilling spiral microrobot actuated by magnetic gradient rotating uniform field to unclog blocked human blood vessels. The proposed consists of cylindrical body that contains magnet blades on the shaft. can rotate freely inside slot align in any direction applying an external field. is prototyped 3-D printing technology with ultraviolet curable acrylic plastic, then demonstrated various experiments. These experiments show successfully performs motions,...

We propose a novel dual-body magnetic helical robot (DMHR) manipulated by navigation system. The proposed DMHR can generate motions to navigate in human blood vessels and drill clots an external rotating field. It also release which are relative rotational between dual-bodies the carrying cargos target region controlling magnitude of Constraint equations were derived selectively manipulate fields. was prototyped various experiments conducted demonstrate its verify manipulation methods.

We propose a novel magnetic navigation system (MNS) with the resonant effect of an RLC circuit to generate large field in high frequency. The variable capacitors proposed MNS make it possible not only change frequency circuit, but also maximize output current without phase delay at frequencies. can compensate for amplitude decrease and due inductance conventional MNS, while generating uniform wide range rotating frequencies effectively operate helical robot human blood vessels. For...

A novel crawling magnetic robot system manipulated by a navigation is proposed for wireless self-expandable stent delivery in narrowed tubular environments. The composed of module to generate motion environment, and pulley drilling unclog the blocked region uncovering cover deployment. three orthogonal pairs electromagnetic coils can dimensional external field controlling applied current. We also selective control methods design processes with fabrication. Finally, we prototyped conducted...

We propose a novel crawling magnetic robot and driving method utilizing an oscillatory rotating external field. The is composed of actuating body with permanent magnet, two steering bodies magnets, flexible legs. proposed can increase torque long cylindrical magnet to crawl in tubular environments navigate pulsatile flow more than conventional spiral robots. field synchronizes the plane oscillating field, while generates motion order stably generate at any posture. Finally, we prototyped...

Intravascular helical magnetic millirobots (IHMMs) capable of navigating in and unclogging human blood vessels have been widely investigated as a possible means for the treatment occlusive vascular diseases. However, conventional IHMMs are based on bodily motion whereby overall structure IHMM rotates at same time, making it impossible to separate motions. Herein, we propose novel composed body drilling rotary tip whose rotating axes perpendicular each other. We also derived an external...

Magnetic milli/microrobots and magnetic navigation systems have been widely investigated for medical applications due to their advantages of generating torque force remotely the simple mechanical structure robots. However, there are very few cases that commercialized because limitations conventional (e.g., heavy weight, bulky structures, limited compatibility with other devices). In this article, we propose a novel concept robotically adjustable (RAMAN) system, which can adjust size position...

We propose a position control method for helical magnetic robot (HMR) that uses the rotating frequency of external field (ERMF) to minimize fluctuation HMR caused by pulsatile flow in human blood vessels. prototyped and conducted several experiments pseudo vessel environments with peristaltic pump. experimentally obtained relation between rate ERMF required make stationary given flow. Then we approximated Fourier series applied real time. Our proposed drastically reduced under

We developed a crawling magnetic robot (CMR), which can stably navigate and perform biopsies remotely in tubular environments by controlling field. The CMR is composed of part biopsy part. allows the to crawl forward backward via an asymmetric friction force generated external precessional closes or opens cover needle use selectively with control prevents damage because inside while navigating. design proposed using torque constraints constraint, then we fabricated three-dimensional printing...