In this paper, to deal with the locomotion and performance in pipe or even in blood vessel condition, we design a novel type of hybrid microrobot that has characteristics of multi-functions, controllability, stability. The hybrid microrobot has simple structure, simple control method, and good dynamic. We develop the microrobot composed of rotating motion and fish-like locomotion to realize the wireless controllability capable of swimming and rotating motion. We design the rotation magnetic field, the motion mechanism of rotating motion and fish-like motions have been analyzed as well. Also, we design the hybrid microrobot by combining the rotating motion and fish-like fin motion. By applying the rotation magnetic field, we carried out the evaluating experiments for rotating motion and moving motion in a pipe. The experimental results indicated that, for the rotating motion, the rotating speed of 87rad/s and moving speed of 58mm/s; for the hybrid microrobot, the moving speed of 48mm/s can be obtained via frequency of the input current. Additionally, it is demonstrated that the microrobot has a rapid response. This microrobot will play an important role in both industrial and medical applications such as microsurgery.

In this paper, we proposed a new paddling type of microrobot that can move in human organs such as intestines, even blood vessels as an assumption has a great potential application for microsurgery. Based on the previous researches, the structure of the paddling microrobot has been designed. By applying the alternate magnetic field, the paddling of the developed microrobot can be manipulated with the frequency of input current. And also, the motion mechanism, and characteristic evaluation of the microrobot have been discussed. And then, in order to generate the propulsive force, we improved the structure of the paddling microrobot, the fin was fixed at the end of the body. The characteristic of the fin also has been evaluated in this research. The microrobot has a rapid response, and it can clear out dirt which is adhering to the inner wall of pipes. This microrobot will play an important role in both industrial and medical applications such as microsurgery.

A microrobot that can be moved along blood vessels has a great potential application for microsurgery. This paper discusses the development of a wireless microrobot that can be manipulated inside a tube using an external magnetic field. The model microrobot utilizes an electromagnetic actuator as the servo actuator to realize movement in biomedical applications. The structure, motion mechanism, and characteristic evaluation of a driving fin used for propulsion have been discussed. The fishlike fin movement can be controlled via frequency adjustments to the alternate magnetic field. Vertical movement of the microrobot can be stopped at a specified location. Experimental results indicate that the microrobot can be controlled upward, downward, and also be suspended in water using frequency adjustments. The microrobot has a rapid response, and can correspond to the dirt adhering to the inner wall. This device will play an important role in both industrial and medical applications such as microsurgery.

It is our purpose to develop a novel fin type of microrobot in pipe that has the characteristics of flexibility, driven by wireless, good response and safety in body. This paper proposes a novel fin type of model microrobot utilizing electromagnetic actuator as the servo actuator to realize moving motion for biomedical application. We also discuss the structure, motion mechanism and characteristic evaluation of a driving fin. The moving fin driven by a permanent magnet can be controlled by the frequency adjustment of the alternate magnetic field. The running speed of the microrobot has been measured in vertical direction and at turning point by changing the frequency of input current. Experimental results showed that the maximum running speed 40mm/s could be obtained in vertical direction. The developed microrobot has characteristics of compact volume, quick response, can correspond to the dirt adhering to the inner wall, or long distance movement, and running speed control can be easily performed by frequency adjustment. It will be very useful for industrial application and for microsurgery.