Electromagnetic Navigation System Using Simple Coil Structure (4 Coils) for 3-D Locomotive Microrobot

Researches on the biomedical wireless microrobot are being actively carried out. In particular, compared with conventional catheter intervention, the wireless locomotive microrobot using an electromagnetic navigation system (ENS) can have many advantages in ischemic heart disease therapy. The ENSs generally use a uniform magnetic field and gradient magnetic field for the actuation of microrobots. However, because most ENSs require many coils, they have severe limitations, including a complex structure, large energy consumption, increased power supply, and large system volume. This paper proposes a new ENS for a 3-D locomotive microrobot using only four electromagnetic coils. The proposed ENS has a very simple structure, which consists of two circular coils and two saddle coils. The alignment and propulsion of the microrobot are determined by the generated magnetic field and gradient magnetic field from the four coils. This paper proposes a control algorithm and a gravity compensation for a 3-D locomotive microrobot and validates the performance of the microrobot using the proposed ENS. Finally, through a locomotion test of a blood vessel phantom, it was demonstrated that the microrobot can move to a target position in the phantom and deliver a drug to the target lesion.