流体内磁驱动微米机器人运动前沿研究综述

苗佳淼; 王潇朴; 周燕; 叶敏; 赵洪宇; 许若愚; 钱辉环

doi:10.1631/FITEE.2300054

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流体内磁驱动微米机器人运动前沿研究综述

常规文章 | Updated：2023-07-10

- 流体内磁驱动微米机器人运动前沿研究综述
  Cover Article
- Magnetically driven microrobotsmoving in a flow: a review
- 信息与电子工程前沿（英文） 2023年24卷第11期页码：1520-1540
- Affiliations：
  
  1.School of Science and Engineering, the Chinese University of Hong Kong (Shenzhen), Shenzhen 518172, China
  2.Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen 518129, China
- Author bio：
  
  ‡Corresponding authors
- Funds：
  
  Shenzhen Institute of Artificial Intelligence and Robotics for Society, China(AC01202101106)
- DOI：10.1631/FITEE.2300054
  中图分类号： TP242
- 收稿：2023-01-29，
  
  录用：2023-06-22，
  
  纸质出版：2023-11-0
- Accepted：
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苗佳淼, 王潇朴, 周燕, 等. 流体内磁驱动微米机器人运动前沿研究综述[J]. 信息与电子工程前沿（英文）, 2023,24(11):1520-1540.

Jiamiao MIAO, Xiaopu WANG, Yan ZHOU, et al. Magnetically driven microrobotsmoving in a flow: a review[J]. Frontiers of Information Technology & Electronic Engineering, 2023, 24(11): 1520-1540.
苗佳淼, 王潇朴, 周燕, 等. 流体内磁驱动微米机器人运动前沿研究综述[J]. 信息与电子工程前沿（英文）, 2023,24(11):1520-1540. DOI： 10.1631/FITEE.2300054.

Jiamiao MIAO, Xiaopu WANG, Yan ZHOU, et al. Magnetically driven microrobotsmoving in a flow: a review[J]. Frontiers of Information Technology & Electronic Engineering, 2023, 24(11): 1520-1540. DOI： 10.1631/FITEE.2300054.

摘要

磁驱动微米机器人能够在人体内局部低侵入性地执行特定任务。为到达体内病灶区域，微米机器人常常需要在比静止液体更为复杂的流动血液内进行导航运动。因此，相应的精准控制方案设计更具挑战性。目前已有许多关于磁控微米机器人在流体内的运动控制及其理论研究。本文回顾总结了有关磁控微米机器人在流体中的最新研究进展，包括流动系统的建立、运动的动力学建模以及控制方法。此外，讨论了当前面临的挑战和局限性。希望本文为微米机器人在复杂流体环境中的高效控制提供新的思路，并加快微米机器人在临床应用中的研究。

Abstract

Magnetically driven microrobots hold great potential to perform specific tasks more locally and less invasively in the human body. To reach the lesion area in vivo

microrobots should usually be navigated in flowing blood

which is much more complex than static liquid. Therefore

it is more challenging to design a corresponding precise control scheme. A considerable amount of work has been done regarding control of magnetic microrobots in a flow and the corresponding theories. In this paper

we review and summarize the state-of-the-art research progress concerning magnetic microrobots in blood flow

including the establishment of flow systems

dynamics modeling of motion

and control methods. In addition

current challenges and limitations are discussed. We hope this work can shed light on the efficient control of microrobots in complex flow environments and accelerate the study of microrobots for clinical use.

关键词

Keywords

references

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