抄録
This paper proposes a navigation method using rotating electromagnetic coils for a surgical intravascular microrobot in a pulsatile flow. A Proportional-Integral (PI) controller capable of dynamic tuning its proportional gain was developed. The microrobot was navigated to a specified branch of a two-branched vascular model, and the success rate was measured. The result suggests that the controller is robust and has potential for practical applications.
