Thesis (M.Sc.) - German University - Faculty of Postgraduate Studies and Scientific Research - Department of Mechatronics Engineering

The side-effects of many drugs can be mitigated by using targeted drug delivery. The drug is localized within the vicinity of the smal locatiob of the disease inside the human body. In this thesis, motion control of a paramagnetic microparticle is achieved using a magnetic-based robotic system with an open-configuration. This control is done using a permanent magnet and an electromagnetic coil under microscopic guidance and using visual feedback. The permanent magnet and the electromagnetic coil are fixed to the end-effector of a robotic arm with 4 degrees-of-freedom to control the position of the microparticle