IRONSperm: Sperm-templated soft magnetic microrobots

Visually Servoing Wireless Magnetic Intraocular Microrobots

Robotic systems that can undertake surgical tasks, provide assistance to the clinicians, and augment their capabilities are rapidly being developed. One of the common research areas for surgical robotics is ophthalmology. Ophthalmic procedures require increased dexterity and delicate motions in order to avert any damage caused to the visual receptors. Moreover, drug delivery for ophthalmology p...

Towards Independent Control of Multiple Magnetic Mobile Microrobots

In this paper, we have developed an approach for independent autonomous navigation of multiple microrobots under the influence of magnetic fields and validated it experimentally. We first developed a heuristics based planning algorithm for generating collision-free trajectories for the microrobots that are suitable to be executed by an available magnetic field. Second, we have modeled the dynam...

Independent control of multiple magnetic microrobots in three dimensions

A major challenge for untethered micro-scale mobile robotics is the control of many agents in the same workspace for distributed operation. In this work, we present a new method to independently control multiple sub-mm microrobots in three dimensions (3D) using magnetic gradient pulling as the 3D motion generation method. Motion differentiation is accomplished through the use of geometrically o...

CAREER: Nonuniform-Magnetic-Field Control for Medical Microrobots

Design and Control of In-Vivo Magnetic Microrobots

This paper investigates fundamental design, modeling and control issues related to untethered biomedical microrobots guided inside the human body through external magnetic fields. Immediate application areas for these microrobots include cardiovascular, intraocular and inner-ear diagnosis and surgery. A prototype microrobot and steering system are introduced. Experimental results on fluid drag ...