Research On Electromagnetic Actuation System And Small-Scaled Robots Towards Biomedical Applications

Over the past years,a huge number of contributions and potential applications of magnetic micro/ nanorobots towards biomedicines were invented,developed and enhanced to fulfill effective therapies and treatments.Magnetic actuation has been proposed in the diversify of electromagnetic coil configurations with control techniques and types of magnetic fields to wirelessly power those tiny robots.As well,the small size and wireless mobility of the robots can enable an access to and navigation in confined,small,hard-to-reach,and sensitive inner body sites,where they can provide new ways of minimally invasive interventions and targeted diagnosis and therapy down to the cellular length scales with high precision and repeatability,including essential aspects that the robots need to function properly and safely in conditions of a targeted medical problem.Thus,this dissertation aspires to pave a way for approaching the goal of this field by working on two main topics;the magnetic actuation system and smallscaled soft robots.Firstly,it is due to the fact that one of common constraints of electromagnetic actuation system is about an unsupportable size of its workspace and accessible space to applications in life-science.The HyBrid system is an electromagnetic actuation system that is optimally designed to have a large-homogeneous magnetic field,and a strong gradient-based magnetic field across its large accessible bore for micro-/nanomanipulation.It also carries out potential and versatile controls to manipulate various actuating types of magnetic robots for performing multi-DOF locomotion in diverse viscous environments(e.g.helical propulsion by rotating magnetic field,undulation locomotion by oscillating fields,3D-translation and rotation locomotion by non-uniform magnetic fields).Secondly,magneto-elastomer allows a possibility of a motor-less mechanism powered by magnetic field.Soft robots fabricated with this material can mimic bioinspired locomotion which plays crucial roles to deal with uneven terrains,unstructured and uncertain environments,including unharmful interaction with human tissue.Its deformable structure caused by magnetic orientation and strength embedded in the anisotropic-magnetized body is an effective-reliable actuating mechanism with a minimal control by utilizing the high-degree of freedom provided by the magnetic compliance for mobility in medium.This property still allows the actuating magnetic field to tune magnetic capabilities of the robot to fit for any condition of environments.Under the driving magnetic field,dynamic torque acts to the high-magnetic strength volume of the robot body,and simultaneously deforms the whole body to propagates series of body transformation to generate thrust for self-propulsion in fluid and to exert the swimming force to benefit unwanted removal,including swimming against the flow of fluid effectively.The performance and reliability of both magnetic manipulation and soft robots can contribute the great results to pursue micro-/ nanotechnology-assisted treatments as a biomedical agent effectively.