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

By Kemal Berk Yesin, Karl Vollmers, Bradley J. Nelson. Int. J. Robotics Res., 2006

473 citations recorded by the source corpus.

Subfields: Biomedical Engineering, Condensed Matter Physics

View Paper: https://www.semanticscholar.org/paper/f102c8c74d3f5157a2e7846c206c16badd3b06c1

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In Biomedical Engineering

In Condensed Matter Physics

Citations in the corpus

Modeling and Experimental Characterization of an Untethered Magnetic Micro-Robot (2009, background): “For some, viscous drag is balanced against a magnetic force (Mathieu et al. 2003 Yamazaki et al. 2004) or the magnetic field is used to actuate some component (Dreyfus et al. 2005 Yesin et al. 2006).”
Microrobots for minimally invasive medicine. (2010, background): “propose a microrobot for intraocular procedures, controlled wirelessly with magnetic fields and tracked visually through the pupil (55).”
Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies (2007, background): “Manipulation can be achieved by either rotating the dipole pair [2] or constructing sets of orthogonal dipoles [9].”
How Should Microrobots Swim? (2009, methodology): “Magnetic fields are used to: (a) pull a 900-1m- long assembled-MEMS microrobot (Yesin et al. 2006)1 and (b) rotate a 30-1m-long artificial-bacterial-flagella microrobot (Zhang et al. 2009).”
Magnetic Methods in Robotics (2020, methodology): “A pioneering work in magnetic methods in robotics utilized this strategy by combining a Helmholtz and Maxwell coil coaxially and then robotically rotating that system (70).”
Biomedical Applications of Untethered Mobile Milli/Microrobots (2015, background): “At the submillimeter scale, other significant milestone studies in untethered microrobotics include a study on bacteria-inspired swimming propulsion [54], bacteriapropelled beads [23], [55], steerable electrostatic crawling microrobots [30], catalytic self-propelled microtubular swimmers [24], laser”
OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation (2010, methodology): “Throughout this paper we consider two assembled-MEMS microrobots of the type discussed in [5].”
Novel electromagnetic actuation system for three-dimensional locomotion and drilling of intravascular microrobot (2010, background): “Nelson reported the planar movement of a ferromagnetic microrobot usingHelmholtz andMaxwell coil pairs,which can be rotated by amotor [6].”
Robotics in the Small, Part I: Microbotics (2007, unknown): “In Figure 14 [29], a soft-magnetic assembledMEMS microrobot (the microrobot being assembled in Figure 8) is oriented by the direction of an applied magnetic field and is pulled by the gradients in that field.”
Planar Microassembly by Parallel Actuation of MEMS Microrobots (2008, methodology): “[25] recently presented another microrobot that receives power through its environment; this 950-μm-long microrobot is actuated using magnetic fields.”
Three-Dimensional Magnetic Manipulation of Micro- and Nanostructures for Applications in Life Sciences (2013, methodology): “Depending on the task-at-hand, researchers have proposed strategies such as using stick-slip methods based on thermal expansion [5] or electrostatic actuation [6], catalytic reactions [7], using biological organisms for propulsion [8], and electromagnetic actuation [9]–[12].”