A control system of the wireless microrobots in pipe

Wireless microrobot have potential to radically accomplish many medical procedures. Various control systems have been proposed, with the magnetic field to obtain the wirelessly power and control the wireless microrobot. In this paper, we use a 3 axes Helmholtz coils to generate a rotational magnetic field, which controls the movement of the wireless microrobot. And a tele-operation system for our proposed wireless microrobot has been developed. The surgeon operates the Phantom Omni device to realize real time control the wireless microrobot. The monitor can also show the data calculated from the magnetic sensor array for obtaining the real time position of the robot. We evaluated the performance of the whole system. And then, we also evaluated the characteristics of wireless microrobot with different conditions including different magnetic flux density changing frequency and different spiral number. Base on the experimental results, we obtained the relationship between the magnetic flux density changing frequency and the moving speed. We realized the real time control and flexible motion using the relationship. The experimental results appear in a good performance on flexibility.