$In vivo$ navigation

This paper presents a study on the navigation of microrobots in vivo by using optical coherence tomography (OCT) imaging feedback. The electromagnetic gradient field generated by a home-made electromagnetic manipulation system is magnetically modeled. With this model, the magnetic force acting on the microrobot is calculated, and the relationship between this force and the velocity of the microrobot is characterized. The findings are verified by the in vitro and in vivo environments, with the imaging feedback of the OCT imaging system and the actuation of the electromagnetic manipulation system. Experimental results have successfully demonstrated the effectiveness of the proposed approach. read more