Automated Control System for Magnetically Active Microrobots for Medical Applications

Abstract

This paper presents an automatic control system for achieving controlled motion of magnetoactive micro-objects. A mathematical model is developed to describe the dynamics of a spherical body made of magnetically filled polymer under the influence of a moving permanent magnet's magnetic field. The proposed control system architecture enables two distinct motion regimes: rolling with minimal interaction forces against the channel wall, or sliding of the deformed magnetoactive object with significant contact forces. This effect is achieved through optimal positioning and orientation of the magnet, which provides precise control over the normal reaction force between the microrobot and the contact surface. The system has potential applications in various medical procedures, including thrombectomy and vascular biopsy. A key feature of the proposed system is the integration of a computational module that performs real-time calculations of force and kinematic parameters for magnetoactive control. The paper includes numerical simulations demonstrating different motion parameters of the magnetoactive object under identical surface and object conditions, validating the effectiveness of the proposed control architecture and methodology. The results confirm the system's capability to achieve diverse motion patterns through optimized magnetic field control.