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CLC number: TP242

On-line Access: 2023-12-04

Received: 2023-01-29

Revision Accepted: 2023-12-05

Crosschecked: 2023-06-22

Cited: 0

Clicked: 401

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Huihuan Qian

https://orcid.org/0000-0001-8269-0882

Xiaopu WANG

https://orcid.org/0000-0001-6257-6505

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Frontiers of Information Technology & Electronic Engineering  2023 Vol.24 No.11 P.1520-1540

http://doi.org/10.1631/FITEE.2300054


Magnetically driven microrobotsmoving in a flow: a review


Author(s):  Jiamiao MIAO, Xiaopu WANG, Yan ZHOU, Min YE, Hongyu ZHAO, Ruoyu XU, Huihuan QIAN

Affiliation(s):  School of Science and Engineering, the Chinese University of Hong Kong (Shenzhen), Shenzhen 518172, China; more

Corresponding email(s):   wangxiaopu@cuhk.edu.cn, hhqian@cuhk.edu.cn

Key Words:  Microrobot, Flow, Dynamics modeling, Control


Jiamiao MIAO, Xiaopu WANG, Yan ZHOU, Min YE, Hongyu ZHAO, Ruoyu XU, Huihuan QIAN. Magnetically driven microrobotsmoving in a flow: a review[J]. Frontiers of Information Technology & Electronic Engineering, 2023, 24(11): 1520-1540.

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author="Jiamiao MIAO, Xiaopu WANG, Yan ZHOU, Min YE, Hongyu ZHAO, Ruoyu XU, Huihuan QIAN",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="24",
number="11",
pages="1520-1540",
year="2023",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.2300054"
}

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%A Huihuan QIAN
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A1 - Jiamiao MIAO
A1 - Xiaopu WANG
A1 - Yan ZHOU
A1 - Min YE
A1 - Hongyu ZHAO
A1 - Ruoyu XU
A1 - Huihuan QIAN
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DOI - 10.1631/FITEE.2300054


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.

流体内磁驱动微米机器人运动前沿研究综述

苗佳淼1,2,王潇朴2,周燕2,叶敏2,赵洪宇2,许若愚1,钱辉环1,2
1香港中文大学(深圳)理工学院,中国深圳市,518172
2深圳市人工智能与机器人研究院,中国深圳市,518129
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。

关键词:微米机器人;流体;动力学建模;控制

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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