Magnetically actuated miniature robots are limited in their mechanical outputting capability, because the magnetic forces decrease significantly with decreasing robot size and increasing actuating distance. Hence, the output force of these robots can hardly meet the demand for specific biomedical applications (e.g., tissue penetration). This article proposes a tetherless magnetic impact needle robot (MINRob) based on a triple-magnet system with reversible and repeatable magnetic collisions to overcome this constraint on output force. The working procedure of the proposed system is divided into several states, and a mathematical model is developed to predict and optimize the force output. These force values in magnetic impact and penetration are obtained from a customized setup, indicating a ten-fold increase compared with existing miniature robots that only utilize magnetic attractive force. Eventually, the proposed MINRob is integrated with a teleoperation system, enabling remote and precise control of the robot's position and orientation. The triple-magnet system offers promising locomotion patterns and penetration capacity via the notably increased force output, showing great potential in robot-assisted tissue penetration in minimally invasive healthcare.

中文翻译：

---

MINRob：基于三磁体系统的大力输出微型机器人


磁驱动微型机器人的机械输出能力受到限制，因为磁力随着机器人尺寸的减小和驱动距离的增加而显着减小。因此，这些机器人的输出力很难满足特定生物医学应用（例如组织穿透）的需求。本文提出了一种基于三磁体系统的无绳磁力冲击针机器人（MINRob），具有可逆且可重复的磁力碰撞，以克服这种对输出力的限制。该系统的工作过程分为几个状态，并开发了一个数学模型来预测和优化力输出。这些磁冲击力和穿透力值是通过定制设置获得的，与现有仅利用磁吸引力的微型机器人相比，增加了十倍。最终，所提出的 MINRob 与远程操作系统集成，能够远程、精确地控制机器人的位置和方向。三磁体系统通过显着增加的力输出提供了有前途的运动模式和穿透能力，在微创医疗保健中机器人辅助组织穿透方面显示出巨大潜力。