Magnetic equilibrium posture of a multibody magnetic microrobot composed of spherical magnets manipulated by external magnetic field

Abstract

Magnetic microrobots wirelessly manipulated by external magnetic field have been widely investigated as possible surgical alternatives for cardiovascular or intraocular surgeries [1, 2]. Since the principle of manipulation is based on the external magnetic field, the microrobot can be effectively simplified and miniaturized for the application in complex environments in the human body. Several researchers have investigated various types of single-body microrobots to achieve different mechanical motions [1, 2]. However, a magnetically coupled multibody magnetic microrobot (MMM) has not been proposed to improve the mechanical and therapeutic maneuverability to navigate through the blood vessels and to treat the diseased area.