A multi-modular helical magnetic millirobot navigating in curved tubular environments

This paper proposes a novel multi-modular helical magnetic millirobot (MHMM) able to navigate in curved tubular environments. The proposed MHMM is basically composed of head, middle, and tail modules serially connected by a universal joint, and can employ more modules if necessary. The head module is a helical body with a magnetic rotary tip attached to the front end. Thus, once located in a curved tube filled with a fluid, the MHMM can effectively generate navigating or unclogging motions simply actuated by an external rotating magnetic field. This paper also examines the dynamic characteristics of the MHMM under various working conditions to manipulate the MHMM in a stable and safe manner. Then, it demonstrates various controlled motions of the MHMM in an in-vitro pulsatile flow environment to show the validity of the proposed structure and method.