Skip to main content
Log in

Development of a novel type of microrobot for biomedical application

  • Technical Paper
  • Published:
Microsystem Technologies Aims and scope Submit manuscript

Abstract

This paper proposes a new type of microrobot that can move along a narrow area such as blood vessels which has great potential for application in microsurgery. Also, the development of a wireless microrobot that can be manipulated inside a pipe by adjusting an external magnetic field has been discussed. The model microrobot utilizes an electromagnetic actuator as the servo actuator to realize movement in biomedical applications. The structure, motion mechanism, and evaluation characteristic of motion of the microrobot have been discussed, and the directional control can be realized via the frequency of the input current. The moving experiments have been carried out in branching points in the horizontal direction, and the moving speed of the robot has been measured in vertical direction by changing frequency. Based on the results, the microrobot has a rapid response, and it can clear out dirt which is adhering to the inner wall of pipe. This microrobot will play an important role in both industrial and medical applications such as microsurgery.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Subscribe and save

Springer+ Basic
EUR 32.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or Ebook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16

Similar content being viewed by others

References

  • Anderson JM, Triantafyllou MS, Kerrebrock PA (1997) Concept design of a flexible-hull unmanned undersea vehicle. In: Proceedings of the international offshore and polar engineering conference, pp 82–88

  • Barrett D, Yue DKP, Grosenbaugh, Wolfgang MJ (1999) Drag reduction in fish-like locomotion. J Fluid Mech 392:183–212

  • Bone Q, Marshall NB (1982) Biology of fishes. Blackie and Son Limited, London, 167 p

  • Domenici P, Blake RW (1997) The kinematics and performance of fish fast-start swimming. J Exp Biol 200(8):1165–1178

    Google Scholar 

  • Fearing L (1992) Micro structures and micro actuator for implementing submillimetres robots, precision sensors, actuators and systems. Kluwer, Dordrecht, pp 39–72

    Google Scholar 

  • Fukuda T, Kawamoto A, Arai F, Matsuura H (1994) Mechanism and swimming experiment of micro mobile robot in water. Proc IEEE Int Conf Robot Autom 1:814–819

    Google Scholar 

  • Fukuda T, Kawamoto A, Arai F, Matsuura H (1995) Steering mechanism of underwater micro mobile robot. Proc IEEE Int Conf Robot Autom 1:363–368

    Google Scholar 

  • Guo S, Pan Q (2007) Mechanism and control a novel type of microrobot for biomedical application. In: Proceedings of the 2007 IEEE international conference on robotics and automation, pp 187–192, Roma, Italy

  • Gray J (1936) Studies in animal locomotion. VI. The propulsive powers of the dolphin. J Exp Biol 13:192–199

    Google Scholar 

  • Guo S, Pan Q (2006) Design and control of a novel type of microrobot moving in pipe. In: Proceedings of the 2006 IEEE international conference on mechatronics and automation, pp 649–653, China

  • Guo S, Fukuda T, Kosuge K, Arai F, Oguro K, Negoro M (1995) Micro catheter system with active guide wire. In: Proceedings of the 1995 IEEE international conference on robotic and automation, vol 1, Nagoya, Japan, pp 79–84

  • Guo S, Fukuda T, Kato N, Oguro K (1998) Development of underwater micro robot using ICPF actuator. In: Proceedings of the 1998 IEEE international conference on robotics and automation, Belgium, pp 1829–1834

  • Guo S, Sugimoto K, Hata S, Su J, Oguro K (2000) A new type of underwater fish-like micro robot. In: Proceedings of the 2000 IEEE international conference on intelligent robotics and systems, Kagawa, Japan, pp 867–862

  • Guo S, Fukuda T, Asaka K (2002) Fish-like underwater micro robot with 3 DOF. In: Proceedings of the 2002 IEEE international conference on robotics and automation, Washington, DC, pp 738–743

  • Guo S, Sasaki Y, Fukuda T (2002) A fin type of microrobot in pipe. Proceedings of the 2002 international symposium on micro machine and human science (MHS’ 22), Nagoya, Japan, pp 93–98

  • Guo S, Fukuda T, Asaka K (2003) A new type of fish-like underwater microrobot. IEEE ASME Trans Mechatron 8(1):35–40

    Google Scholar 

  • Guo S, Sasaki Y, Fukuda T (2003) A new kind of microrobot in pipe using driving fin. In: IEEE/ASME international conference on advanced intelligent mechatronics (AIM 2003), Kobe, Japan, pp 667–702

  • Guo S, Sakamoto J, Pan Q (2005) A novel type of microrobot for biomedical application. In: IEEE/RSJ international conference on intelligent robots and systems (IROS2005), Canada, pp 2265–2270

  • Guo S, Pan Q, Khamesee MB (2006) Development of a novel type of microrobot for biomedical application. ASME/JSME joint conference (MIPE 2006), Santa Clara, CA, USA

  • Guo S, Pan Q, Zhang W (2006) Characteristics of the microrobot moving in the vertical pipe. Proceedings of the 6th World Congress on Control and Automation, pp 9282–9286, China

  • Harper KA, Berkemeier MD, Grace S (1998) Modeling the dynamics of spring-driven oscillating-foil propulsion. IEEE J Ocean Eng 23:285–296

    Article  Google Scholar 

  • Hirose Y, Shiga T, Okada A, Kurauchi T (1992) Gel actuators driven by an electric field. In: Proceedings of the 3rd international symposium on micro machine and human science, pp 21–26

  • Laurent G, Piat E (2001) Efficiency of swimming microrobots using ionic polymer metal composite actuators. In: Proceedings of 2001 IEEE international conference on robotics and automation, pp 3914–3919

  • Maddock L, Bone Q et al (1994) Mechanics and physiology of animal swimming. Cambridge University Press, Cambridge

    Google Scholar 

  • Mojarrad M, Shahinpoor M (1997) Biomimetic robot propulsion using polymeric artificial muscles. In: Proceedings of the 1997 IEEE international conference on robotics and automation, New Mexico, USA, pp 2152–2157

  • Oguro K, Asaka K, Takenaka H (1993) Polymer film actuator driven by a low voltage. In: Proceedings of the 4th international symposium on micro machine and human science, Japan, pp 39–40

  • Osada Y, Okuzaki H, Hori H (1992) A polymer gel of electrically driven moiety. Nature 355:242–244

    Article  Google Scholar 

  • Pan Q, Guo S (2006) A novel type of microrobot moving in the vertical pipe. In: The 24th annual conference of the robotics society of Japan, 2G22, Japan

  • Sendoh M, Yamazaki A, Ishiyama K (2000) Wireless controlling of the swimming direction of the spiral-type magnetic micro-machines. Trans IEEE Jpn 120-A:301–306

    Google Scholar 

  • Sfakiotakis M, Lane DM, Davies JBC (1999) Review of fish swimming modes for aquatic locomotion. IEEE J Ocean Eng 24:237–252

    Article  Google Scholar 

  • Tadokoro S, Takamori T et al (1998) Development of a distributed actuation device consisting of soft gel actuator elements. In: Proceedings of 1998 IEEE international conference on robotics and automation, Leuven, Belgium, pp 2155–2160

  • Tadokoro S, Yamagami S et al (1999) Multi-DOF device for soft micromanipulation consisting of soft gel actuator elements. In: Proceedings of the 1999 IEEE international conference on robotics and automation, Detroit, MI, USA, pp 2177–2182

  • Tadokoro S, Yamagami S, Takamori T (2000) An actuator model of ICPF for robotic applications on the basis of physicochemical hypotheses. In: Proceedings of the 2000 IEEE international conference on robotics and automation, Seoul, Korea, pp 1340–1345

  • Triantafyllou MS, Triantafyllou GS (1995) An efficient swimming machine. Sci Am 272(3):64–70

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Qinxue Pan.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Guo, S., Pan, Q. & Khamesee, M.B. Development of a novel type of microrobot for biomedical application. Microsyst Technol 14, 307–314 (2008). https://doi.org/10.1007/s00542-007-0430-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00542-007-0430-1

Keywords

Navigation