Abstract
We propose a new approach for controlling micro robot geometrically constrained in blood vessel pipe, by utilizing magnetic force. The system is composed of four pairs of coil generating magnetic field in the focused area and micro robot made by magnet. The coils produce both driving force and moment for the micro robot. Eventually, the robot moves along the blood pipe depending upon the current for coils. In this report, we explain the mechanism of micro robot and show a couple of experimental results for confirming the idea.
