A Magnetic Micro Robotic Trajectory Controller Design for Cell Trapping

Abstract

Cell trapping is considered a complicated and challenging task due to the small scale of manipulation involved. Image guided robotic micro manipulation is among the novel and promising solutions that may enhance human capabilities. In this paper we demonstrate 3-degree-of-freedom (3-DOF) wireless magnetic control of an untethered microrobot (2-DOF position and 1-DOF pointing orientation). An accurate orientation control model has been employed to determine the microrobot's orientation in 2D space. In addition, multiple orientation experiments were conducted to verify the proposed model. Finally, a feedback control algorithm including a Proportional-Integral-Derivative controller (PID) is conducted to eliminate external disturbance during the trajectory tracking task. This system was primarily designed to control magnetic microrobots for cell trapping in vitro.