We propose a position control method for a helical magnetic robot (HMR) that uses the
rotating frequency of the external rotating magnetic field (ERMF) to minimize the position
fluctuation of the HMR caused by pulsatile flow in human blood vessels. We prototyped the
HMR and conducted several experiments in pseudo blood vessel environments with a
peristaltic pump. We experimentally obtained the relation between the flow rate and the
rotating frequency of the ERMF required to make the HMR stationary in a given pulsatile …