Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Click here to sign up for SAGE Journal Email Alerts today!
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via HighWire
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Yesin, K. B.
Right arrow Articles by Nelson, B. J.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati  
What's this?

Modeling and Control of Untethered Biomicrorobots in a Fluidic Environment Using Electromagnetic Fields

K. Berk Yesin

Institute of Robotics and Intelligent Systems, ETH Zürich, 8092 Zürich, Switzerland, byesin{at}ethz.ch

Karl Vollmers

Institute of Robotics and Intelligent Systems, ETH Zürich, 8092 Zürich, Switzerland, kvollmers{at}ethz.ch

Bradley J. Nelson

Institute of Robotics and Intelligent Systems, ETH Zürich, 8092 Zürich, Switzerland, bnelson{at}ethz.ch

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 x 400 µ m elliptical shape has a spherical equivalent diameter of 477 µ m. Drag forces combined with saturation magnetization (5 x 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.

Key Words: biomedical • microrobotics • wireless micro-robot • magnetic microrobot • MEMS • microassembly

The International Journal of Robotics Research, Vol. 25, No. 5-6, 527-536 (2006)
DOI: 10.1177/0278364906065389
Add to CiteULike CiteULike   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati    What's this?


This article has been cited by other articles:


Home page
 The International Journal of Robotics ResearchHome page
M. Hamdi and A. Ferreira
Multiscale Design and Modeling of Protein-based Nanomechanisms for Nanorobotics
The International Journal of Robotics Research, April 1, 2009; 28(4): 436 - 449.
[Abstract] [PDF]