Development of a paddling type of microrobot for biomedical application

In this paper, we aim at a paddling type of microrobot that can move in human organs such as intestines, even blood vessels as an assumption has a great potential application for microsurgery. Based on our researches, the structure of the paddling microrobot has been designed in this paper. By applying the alternate magnetic field, the paddling of developed microrobot can be manipulated with the frequency of input current. And also, the motion mechanism, and characteristic evaluation of the microrobot have been discussed. Then, in order to obtain the high propulsive force and good balance, we improved the structure of the paddling microrobot with spiral motion. The spiral mechanisms were connected to the front and end of the body. Experimental results indicate the prototype of the leg has a maximum displacement of 3.7 cm, the spiral motion can realize moving speed of 58 mm/s and the rotating speed of 87 rad/s, respectively. The experimental results also show that the microrobot has some advantages such as the rapid response, moving stability, operability with wireless. It will play an important role in both industrial and medical applications.