Citas bibligráficas
Huapaya, A., Bonilla, M. (2024). Diseño e implementación de una plataforma para el control de posición de microrobots magnéticos usando bobinas de Helmholtz [Tesis, Universidad de Ingeniería y Tecnología]. https://hdl.handle.net/20.500.12815/408
Huapaya, A., Bonilla, M. Diseño e implementación de una plataforma para el control de posición de microrobots magnéticos usando bobinas de Helmholtz [Tesis]. PE: Universidad de Ingeniería y Tecnología; 2024. https://hdl.handle.net/20.500.12815/408
@misc{renati/1059873,
title = "Diseño e implementación de una plataforma para el control de posición de microrobots magnéticos usando bobinas de Helmholtz",
author = "Bonilla Fernandez, Mauricio Alonso",
publisher = "Universidad de Ingeniería y Tecnología",
year = "2024"
}
Current medicine is continuously advancing through the development of new technologies. One of these technologies is microrobotics, which could be employed for drug delivery, endoscopy, among other applications. The thesis showcases the design and implementation of an automated platform for the manipulation of magnetic microrobots. This platform comprises an electromagnetic system of 3D Helmholtz coil for the generation of the magnetic field in the three-dimensional space and an optical system for the detection of the microrobot in a horizontal plane. The microrobot utilized consists of a 1 mm-diameter spherical neodymium micromagnet. To achieve movement, a rotating magnetic field is applied through the platform coils, causing the microrobot to roll on a surface. This controlled displacement is attained by modifying the magnetic field, utilizing a PID controller with adjustable gains through a graphical interface, enabling the microrobot to follow a desired trajectory similar to a biological channel.
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