Study of robotized electromagnetic actuation system for magnetic microrobots devoted to minimally invasive ophthalmic surgery

摘要

Magnetic manipulations of microrobots are a promising solution to improve common biomedical applications, and in particular, ophthalmic minimally invasive surgery (MIS). To achieve this goal a key issue still relies on the design of a suitable electromagnetic actuation (EMA) platform. The study of improving the EMA system is the scope of this paper. The investigated EMA testbed comprises four static and four independent moving electromagnets, firstly devoted to delicate retinal procedures with intraocular microrobots. Specifically, the mobile coils are set into rotation thanks to robotic arms. Analyses and simulations are performed to demonstrate the effectiveness of the additional robotic arms. The results show that the robotized EMA system increases the versatility of the classical magnetic manipulation system and improves their flexibility.