Design and Control of Electromagnetic System Navigating micro/nano Robots

Actuation and navigation of micro/nano robot (MNR) has great promising potential in biomedical applications as it facilitates the motion of such robots within human body. This paper investigates the design of electromagnetic system which is composed of of two pairs of Helmholtz coils and two pairs of Maxwell coils and study its effect on the motion of the MNR. This is supported by the theoretical analysis of the coils and the associated magnetic fields. Accordingly, the locomotion of an MNR was tested through simulations along different orientations in the x-y plane of motion. In addition, a simulation test was carried by navigating MNR inside a Y bifurcation blood vessel. The simulation results confirm the efficient control of the magnetic force generated from Maxwell coils and torque resulted from Helmholtz coils acting on the MNR.