Low-cost force-driven modular magnetic actuation system for microswimmer maneuvering

Magnetically driven microswimmers have recently received substantial recognition because of their ability to navigate in complex narrow environments and perform micromanipulation and cargo transport. They are envisioned as potential candidates for minimally invasive targeted drug delivery, microsurgery, and in-vivo sensing. Researchers are investigating and developing different variants of magnetic actuation systems based on the types of applications intended, but still, many challenges and issues need to be addressed. In this paper, starting from the very underrated issue which is the total cost of the whole actuation setup, accessibility of the workspace, and modularity of the design are addressed. Beginning with the geometrical designs, 3D printing of the parts, and assembly of the electronic control unit, we proposed a low-cost modular magnetic actuation system. The proposed actuation unit has a flexible (expandable) workspace and a provision to upgrade to different forms of electromagnetic units (paired coils systems, saddle coils, distributed electromagnets, and hybrid design) and mode of actuation. The economical cost of the unit lies in the fabrication of the modular parts by using a low-cost 3D printer (Creality Ender-3 S1), and readily available electronic components. After developing the actuation unit, by using the Hanging drop method and utilizing basic laboratory apparatus (Petri dish and syringes) a 0.98 mm diameter microsphere is fabricated to test the maneuvering capability using a joystick unit on a predesigned narrow channel fluidic environment in low Reynolds number condition ( \(Re\approx {10}^{-2})\) $Re\approx {10}^{-2})$ . In addition, using simulation we demonstrate the control of identical microspheres on a planar workspace. The OBJ files of all the modular parts of the unit and details of the electronic components used are also made available.