Magnetic Microrobot Navigation via Wall Equilibrium Points
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Solution Overview
Problem
Microrobots face challenges in navigating complex 3D spaces with walls, such as the brain vascular system or inner ear, due to instability in low viscosity liquids like blood, which affects their precise displacement and positioning.
Innovation Solution
A method and system using a sequence of field generating steps with calculated direction, amplitude, and spatial variation of the magnetic field to propel and control microrobots within these spaces, employing a magnetic navigation system with multiple electromagnets to create inhomogeneous magnetic fields for precise movement between equilibrium points on the wall.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If magnetic field gradient pulling is used to propel microrobots, then microrobots can be actuated in fluidic environments, but they cannot navigate in large operating volumes with walls
Solution Approach 1:
The navigation space is segmented into multiple equilibrium points distributed throughout the large operating volume. The microrobot navigates by sequentially moving between these segmented positions, enabling coverage of large volumes through staged progression rather than direct long-range control.
Solution Approach 2:
Equilibrium points serve as intermediary positions that mediate between the magnetic field generator and the microrobot. By establishing intermediate stable positions along the navigation path, the system enables gradual progression through complex 3D spaces with walls, reducing the complexity of direct long-range control.
2Speed
If oscillating magnetic field is used to create mechanical resonance for propulsion, then microrobots can move on 2D surfaces, but they cannot achieve stable positioning in 3D spaces with walls
Solution Approach 1:
The magnetic field is applied periodically to create oscillating forces that propel the microrobot between equilibrium points. This periodic action enables controlled movement through the 3D space while maintaining stability at each equilibrium position during the periodic cycles.
Solution Approach 2:
The magnetic field parameters (amplitude, frequency, direction) are changed to create different equilibrium positions. By dynamically adjusting these parameters, the system enables both propulsion (when parameters create instability) and stable positioning (when parameters create equilibrium conditions) in 3D spaces with walls.
3Reliability
If magnetic field is used to counter drag forces in water flow, then microrobots can maintain equilibrium position, but they cannot navigate to new positions efficiently
Solution Approach 1:
Equilibrium points are pre-calculated and positioned along the desired navigation path before the microrobot begins movement. This preliminary positioning of stable points enables the microrobot to efficiently navigate by sequentially moving to predetermined locations rather than continuously adjusting position control.
Solution Approach 2:
The system dynamically transitions between static equilibrium states. During navigation, the microrobot moves dynamically between pre-positioned equilibrium points, then stabilizes dynamically at each point. This dynamic approach combines the reliability of equilibrium positioning with the productivity of systematic navigation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enhances the navigation and stability of microrobots in low viscosity liquids, allowing for precise displacement and control within complex geometries by creating stable equilibrium positions, enabling efficient movement against blood flow and in constrained volumes.
Implementation Method 1
a magnetic field of force generator (114) designed to generate a magnetic field of force with a predetermined direction, amplitude and spatial variation for application to the microrobot (100) to propel the microrobot (100) through the space (200)
Data Source
AI summary
A method and system for propelling and controlling displacement of a microrobot in a space having a wall, includes the steps of: forming the microrobot with a body containing a magnetic field-of-force responsive material, wherein, in response to a magnetic field of force, a force is applied to the material in a direction of the magnetic field of force; positioning the microrobot in the space for displacement in that space; and generating the magnetic field of force with a predetermined gradient and applying the magnetic field of force to the microrobot propelling the microrobot through the space in a direction of a field of force. Then, a sequence of field generating steps are executed, wherein each step includes calculating the direction, amplitude and spatial variation of the net field of force to control displacement of the microrobot in the space and against the wall from one equilibrium point to another.