Abstract
Milli/microrobots benefit from their small size and can perform minimally invasive surgery in a limited tissue space and eliminate the need for fine operations such as thrombus, which not only reduces trauma to patients but also shortens the recovery period after surgery. In order to realize motion control of the milli/microrobot at a small scale, the external magnetic field-based control method has a significant advantage of wireless connection, safety, and high efficiency compared to other external actuation ways. Aiming at the actuation of milli/microrobots in human tissue fluid during a medical operation, we designed a milli/microrobot magnetic actuation system called RectMag3D, which is based on rectangular electromagnetic coils. It can realize five-degree-of-freedom motion control of milli/microrobot in three-dimensional space. It has the advantage of the accurate modeling of a magnetic field from each rectangular coil. Therefore, accurate control can be achieved. In this paper, the design and modeling of the proposed system have been introduced. A linear programming algorithm has been applied to achieve fixed-point actuation and displacement actuation. Experiments show that the milli/microrobot can realize the steering and linear motion to the target point in any direction in the limited working space under the control of the magnetic actuation system.
Highlights
Milli/microrobots refer to small-scale robots with dimensions from micrometers to millimeters.They have potential to be used in performing related operations in a limited workspace in vivo.Compared with traditional surgeries, medical milli/microrobots can enter the internal human body and complex organ lesions and reduce unnecessary trauma to the patient’s body tissue and shorten the postoperative recovery period [1,2,3,4]
Because there is no capture of the spatial position of the milli/microrobot, the results of the open-loop experiments depend on the initial position of the milli/microrobot
We designed a milli/microrobot magnetic actuation system based on the rectangular electromagnetic coil to solve the actuation control problem of a milli/microrobot in the field of minimally invasive diagnosis and treatment
Summary
Medical milli/microrobots can enter the internal human body and complex organ lesions and reduce unnecessary trauma to the patient’s body tissue and shorten the postoperative recovery period [1,2,3,4]. Due to these advantages, the development of milli/microrobot technology is of great significance in the minimally invasive diagnosis and diagnostic medical procedures where milli/microrobot can be designed to perform minimally invasive surgery on cell tissue, vascular tissue, human intestine, and so on. Wireless external field energized active actuation is currently the most suitable remote
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