Long-Distance Delivery of Collective Cell Microrobots Driven by Mobile Magnetic Actuation System
Yimin Sun, Ying Cao, Haoyu Zhang, Bin Wang, Qijun Yang, Mingxue Cai, Tiantian Xu, Qianqian Wang
Abstract
Collective microrobots enable controlled batch delivery, showing promising application in the biomedical field. However, significant challenges remain in achieving long-distance delivery of collective microrobots in dynamic environments. This study proposes a magnetic actuation strategy for delivering collective cell microrobots in flowing conditions. A magnetic actuation method is developed, and a mobile actuation system with multiple coils coordination is designed to generate spatially isotropic magnetic fields. Experiments of delivering collective microrobots are conducted in flowing conditions, including downstream and upstream with an average flow velocity up to 8.84 mm/s. Results demonstrate that the proposed actuation strategy enhances driving performance in dynamic environments, achieving long-distance delivery of collective microrobots (over 548 mm). The final access rate of microrobots reaches 90.63% and 94.79% in upstream and downstream conditions, respectively. Our strategy provides an efficient control method for delivering collective microrobots, showing potential for targeted delivery in biomedical applications.
BibTeX
@inproceedings{iros2025_longdistancedeli,
title = {Long-Distance Delivery of Collective Cell Microrobots Driven by Mobile Magnetic Actuation System},
author = {Yimin Sun and Ying Cao and Haoyu Zhang and Bin Wang and Qijun Yang and Mingxue Cai and Tiantian Xu and Qianqian Wang},
booktitle = {IROS 2025},
year = {2025}
}