Magnetic Controlled Navigating System for a Micro-robot Through the Blood Vessels

In this paper, a magnetic navigation system for a micro-robot flowing in the circulatory system is considered. The suggested system consist of three orthogonal pairs of coils surrounding the region of interest. The current injected in each coil applies force and torque on a magnetic dipole in a capsule to track a predefined path in the circulatory system. The coil system utilizes a combined Helmholtz and Maxwell coil pairs to produce a magnetic field with uniform amplitude and gradient. The navigation system is designed as an open loop system using SIMULINK. The system results are demonstrated considering a steady and uniform blood velocity.