Locomotion of Rolling Microrobots Under Rotating Magnetic Fields Within Fluid Media

Medicine advances more and more with the development of new technologies. One is microrobotics, which could be used for drug delivery, endoscopy, and others. This work shows the locomotion of magnetic spinning/rolling microrobots with different geometries (sphere, cube, and cylinder) according to different scenarios: displacement in different widths channels and in slope. Furthermore, the three microrobots are tested in a more complex scenario, where a proportional closed-loop control controls their positions in a curved channel with bifurcations and obstacles to simulate a human artery.