Development and Control of a Micro-robotic System for Medical Applications Fady Magdy (B ) , Ahmed Waheed, Ahmed Moustafa, Ramy Farag, Ibrahim M. Badawy, and Mohamed Sallem Helwan University, Cairo, Egypt FadyMagdy@h-eng.helwan.edu.eg Abstract. The wireless control of microparticles as controllable micro- robots has the potentials in contributing is resolving some medical issues, the current medical approaches are not efficient in resolving them. This paper presents our designed system for controlling a 100 μm spherical para-magnetic particle. The system setup design was based upon simu- lations of magnetic flux densities over the microparticle water reservoir on COMSOL Multiphysics modeling software. LABVIEW software was used to code and interface with the system. Also, the use of ready-to-use optimization controllers was proposed such as LABVIEW auto-tuning PID controller, instead using the trial and error approach that has been taken previously. It’s not recommended to use trial and error approach since it is time costly and not optimal in terms of error minimization. Using the auto tuning PID controller, settling error less than 4.22 μm could achieved and a maximum error in trajectory following 4.4 μm, while the trial and error approach achieved 44.5 μm settling error and a max- imum error in trajectory following 0.6 μm. Achieving this performance makes the microparticles a candidate in novel medical operations that require the navigation of micro objects within arteries and human body in general. Keywords: Microparticles · Microrobots · Optimization controller · Drug carriers · Computer vision · Object tracking 1 Introduction As medicine is in continuous development every day. Researchers become able to discover more deeper causes of many diseases e.g. diabetic retinopathy [4]. This might require a medical intervention inside sensitive and complex organs, also there are also certain drugs are better to be delivered to certain affected tis- sues like chemotherapy for cancer tissues [1]. Externally powered Paramagnetic microparticles were introduced in [9] to diagnosis of diseased tissues by calculat- ing the interacting force between the particle and the tissues as the infected ones c  The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021 A. E. Hassanien et al. (Eds.): AISI 2020, AISC 1261, pp. 769–778, 2021. https://doi.org/10.1007/978-3-030-58669-0_68