Micro-Robot Control Using External Magnetic Levitation Forces

Currently, research results on locomotion systems for objects (similar to robotic systems) moving within the human digestive system are limited. Current studies use techniques such as endoscopy, employing magnetic wires and guide tubes to create movement. However, these techniques have limitations in terms of movement capability and can result in undesirable effects on the surface of intestinal tissue. This study proposes a robotic system capable of moving within tubes, similar to the human digestive system, with the potential to detect and treat diseases in the medical field. The robotic system utilizes external forces by controlling a matrix of coils to change the direction, speed, and force of the robot's movement. Motion based on external forces is calculated through ANSYS simulation software. The robot's operation and positioning are tested and evaluated using a coil matrix combined with a Hall sensor matrix. Experimental results demonstrate that the control algorithm has advantages in modernizing and automating the process of medical examination and treatment for humans.