A Pushing Force Mechanism of Magnetic Spiral-type Machine for Wireless Medical-Robots in Therapy and Diagnosis

In this paper, we present a pushing force mechanism in a magnetic spiral-type machine for use in therapy and diagnosis. Non of the current spiral-type machines can create a pushing force. Thus, their locomotion or tasks are controlled by magnetic field strength and driving frequency. However, the proposed mechanism increases the thrust force on the robot itself in the working space without field controls. The developed pushing force mechanism uses a magnetic suspension structure based on two magnets between the two spiraltype machines. Through this mechanism, the two spiral-type machines act independently via a rotating magnetic field. Thus, the different thrust forces between the two machines create a variation of the magnetic repulsive force in the magnetic suspension. Therefore, the combination of the two thrust forces and the magnetic repulsive force become a total propulsive force. The prototype of the mechanism increased the total thrust force by approximately 3.6 times for locomotion and generated a maximum pushing force of 0.345 N.