Preliminary Study on Control of a Magnetically Propelled Intravascular Microrobot

Sung Hwan Kim; Kei Yoshikawa; Peter Plotner; Ko Yamamoto; Kanako Harada; Mamoru Mitsuishi

doi:10.1299/jsmeicam.2015.6.25

The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM

Online ISSN : 2424-3116

2015.6

DOI https://doi.org/10.1299/jsmeicam.2015.6.25

Conference information

Preliminary Study on Control of a Magnetically Propelled Intravascular Microrobot

Sung Hwan Kim, Kei Yoshikawa, Peter Plotner, Ko Yamamoto, Kanako Harada, Mamoru Mitsuishi

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CONFERENCE PROCEEDINGS FREE ACCESS

Pages 25-26

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Abstract

Achieving high control accuracy is a key issue for a surgical intravascular microrobot. This paper discusses the identification and optimization of the gains of a PI controller designed for the control of electromagnetic field for operating a 1 mm diameter microrobot. The microrobot was successfully controlled with a higher accuracy after tuning the control parameters.

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