Commenced in January 2007
Paper Count: 30172
A Numerical Strategy to Design Maneuverable Micro-Biomedical Swimming Robots Based on Biomimetic Flagellar Propulsion
Abstract:Medical applications are among the most impactful areas of microrobotics. The ultimate goal of medical microrobots is to reach currently inaccessible areas of the human body and carry out a host of complex operations such as minimally invasive surgery (MIS), highly localized drug delivery, and screening for diseases at their very early stages. Miniature, safe and efficient propulsion systems hold the key to maturing this technology but they pose significant challenges. A new type of propulsion developed recently, uses multi-flagella architecture inspired by the motility mechanism of prokaryotic microorganisms. There is a lack of efficient methods for designing this type of propulsion system. The goal of this paper is to overcome the lack and this way, a numerical strategy is proposed to design multi-flagella propulsion systems. The strategy is based on the implementation of the regularized stokeslet and rotlet theory, RFT theory and new approach of “local corrected velocity". The effects of shape parameters and angular velocities of each flagellum on overall flow field and on the robot net forces and moments are considered. Then a multi-layer perceptron artificial neural network is designed and employed to adjust the angular velocities of the motors for propulsion control. The proposed method applied successfully on a sample configuration and useful demonstrative results is obtained.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1079610Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1554
 T. Fukuda, A. Kawamoto, F. Arai, and H. Matsuura, "Mechanism and swimming experiment of micro mobile robot in water," Proc. of IEEE Int'l Workshop on Micro Electro Mechanical Systems (MEMS'94), pp.273-278, 1994.
 S. Guo, Y. Hasegaw, T. Fukuda, and K. Asaka, "Fish -Like underwater microrobot with multi DOF," Proc. of 200 International Symposium on Micromechatronics and Human Science, pp. 63-68, 2001.
 J. Jung, B. Kim, Y. Tak and J. Park, "Undulatory tadpole robot (TadRob) using ionic polymer metal composite (IMPC) actuator," Proc. of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2133-2138, 2003.
 T. Honda, K. Arai and K. Ishiyama, "Effect of micro machine shape on swimming properties of the spiral-type magnetic micro-machine," IEEE Transaction on Magnetics, vol. 35, pp. 3688-3690, 1999.
 B. Behkam, M. Sitti, "Design Methodology for biomemitic propulsion of miniature Swimming Robots," J. Dynamic Systems Measurement and Control, Vol. 128, pp.l36-43, 2006.
 H. Flores, E. Lobaton, S. Mendez-Diez, S. Tluvapova and R. Cortez, "A study of bacterial flagellar bundling," Bulletin of Mathematical Biology, vol. 67, pp.137-168, 2005.
 H. Berg, "The Rotary Motor of Bacterial Flagella," Annual Review of Biochemistry, Vol.72, pp. 19-54, 2003.
 A. Taheri. M. Mohammadi-Amin,"Towards a multi-flagella architecture for E.Coli Inspired swimming microrobot propulsion," Proc. 8th World Congress on computational mechanics & 5th European Congress on Computational Methods in Applied Sciences and Engineering ,Venice, Italy, 30 June-4 July, 2008.
 R. Cortez, "The method of regularized stokeslet," SIAM J. of Sci. Computing, Vol. 23, pp.1204-1225, 2001.
 R. E. Johnson, and C. J. Brokaw, "Flagellar hydrodynamics: A comparison between resistive-force theory and slender-body theory," Biophys. J., Vol.125, pp.113-127, 1979.
 M. B. Menhaj, Computational Intelligence: Fundamental of Neural Networks, Amirkabir University of Technology Publication, Tehran, 2000.
 Y. Zhang, Q. Wang, P. Zhang, X. Wang, and T. Mei, "Dynamic analysis and experiment of a 3mm swimming microrobot," Proc. of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1746-1750, 2004.