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.
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.
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Data availability
The data that support the findings of this study are available from the corresponding authors upon reasonable request.
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Jiamiao MIAO summarized the literature and drafted the paper. Xiaopu WANG and Huihuan QIAN formulated the research goal and outlined the paper. Yan ZHOU, Min YE, and Hongyu ZHAO revised Sections 2 and 3. Hongyu ZHAO and Ruoyu XU revised Section 4. Jiamiao MIAO, Xiaopu WANG, and Huihuan QIAN revised and finalized the paper.
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Huihuan QIAN is a corresponding expert of Frontiers of Information Technology & Electronic Engineering, and he was not involved with the peer review process of this paper. All the authors declare that they have no conflict of interest.
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Project supported by the Shenzhen Institute of Artificial Intelligence and Robotics for Society, China (No. AC01202101106)
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Table S1 Detailed parameters of the flow system channels and the corresponding microrobots used, and the actuation and tracking methods
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Miao, J., Wang, X., Zhou, Y. et al. Magnetically driven microrobots moving in a flow: a review. Front Inform Technol Electron Eng 24, 1520–1540 (2023). https://doi.org/10.1631/FITEE.2300054
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DOI: https://doi.org/10.1631/FITEE.2300054