Conceptual design of a novel magnetically actuated hybrid microrobot

In this paper, to deal with the performance of the medical microrobot in fluid condition, we proposed a novel type of magnetically actuated hybrid microrobot. The magnetically actuated hybrid microrobot has characteristics of controllability and multi-function. It has a simple structure, a simple control strategy with a rotational magnetic field and good dynamic in fluid. The magnetically actuated hybrid microrobot is composed of microrobot body with a screw jet motion, microrobot leg with paddling motion and microrobot tail with fin motion. We designed a rotational magnetic field and an alternate magnetic field to realize the screw jet motion, paddling motion and fin motion. We carried out the evaluating experiments for screw jet motion and moving motion in a pipe. The experimental results indicated that the magnetically actuated hybrid microrobot has a good performance on flexibility.