Theoretical analysis and experimental validation for electromagnetic based actuation of microrobot

The active actuations of the microrobot in vascular system are proposed for the intravascular therapy, drug delivery and manipulation. As a promising actuation method, electromagnetic based actuation (EMA) method was proposed and tested. This study will experimentally prove the force loaded on ferromagnetic body according as magnetic field intensity formed externally. We have experimented to measure the force by using cantilever and load-cell, we have theoretically got the force under given magnetization of matter value at permanent magnet and gone on to verify how much observational error were caused by comparing with experimental value. By measuring magnetic force, we are able to analyze whether ferromagnetic body can move against drag force of the blood flow.