Design and control of in-vivo magnetic microrobots.
- Yesin KB Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology (ETH) Zurich, Switzerland. byesin@ethz.ch
- Exner P
- Vollmers K
- Nelson BJ
- 2006-05-12
Published in:
- Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. - 2005
Diagnosis, Computer-Assisted
Equipment Design
Equipment Failure Analysis
Feedback
Magnetics
Rheology
Robotics
Surgery, Computer-Assisted
English
This paper investigates fundamental design, modeling and control issues related to untethered biomedical microrobots guided inside the human body through external magnetic fields. Immediate application areas for these microrobots include cardiovascular, intraocular and inner-ear diagnosis and surgery. A prototype microrobot and steering system are introduced. Experimental results on fluid drag and magnetization properties of the robots are presented along with an analysis of required magnetic fields for application inside blood vessels and vitreous humor.
- Language
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- English
- Open access status
- bronze
- Identifiers
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- DOI 10.1007/11566465_101
- PMID 16685922
- Persistent URL
- https://sonar.ch/global/documents/122652
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