Abstract
Magnetic microrobots are vital tools for targeted therapy, drug delivery, and micromanipulation on cells in the biomedical field. In this paper, we report an automated control and path planning method of magnetic microrobots based on computer vision. Spherical microrobots can be driven in the rotating magnetic field generated by electromagnetic coils. Under microscopic visual navigation, robust target tracking is achieved using PID–based closed–loop control combined with the Kalman filter, and intelligent obstacle avoidance control can be achieved based on the dynamic window algorithm (DWA) implementation strategy. To improve the performance of magnetic microrobots in trajectory tracking and movement in complicated environments, the magnetic microrobot motion in the flow field at different velocities and different distribution obstacles was investigated. The experimental results showed that the vision-based controller had an excellent performance in a complex environment and that magnetic microrobots could be controlled to move to the target position smoothly and accurately. We envision that the proposed method is a promising opportunity for targeted drug delivery in biological research.
Highlights
Micky RakotondrabeThe research of microrobots is an essential branch in the field of robotics
We demonstrate a strategic and functional approach for detecting and mapping these obstacles in the environment in real-time, planning optimal barrier–free movement routes to arrive at the target position in the shortest time
According to the dynamic window algorithm (DWA) implementation strategy proposed in previous research [30], we developed an intelligent motion simulation system to achieve flexible anti-interference control of the magnetic microrobot
Summary
Micky RakotondrabeThe research of microrobots is an essential branch in the field of robotics. There are an increasing number of studies on robots, especially microrobots, in the biomedical field [4,5,6,7,8] Due to their small size, they cannot be powered by a built–in power supply, so they can only use external drive methods such as piezoelectric [9,10], optical [11], magnetic [12,13], acoustic [14,15,16], and electrical technologies [17]. Magnetic field driving for microrobots is an auspicious and powerful method It has attracted considerable attention in many areas, especially in biomedical research due to its low strength, low frequency, strong tissue penetration, biological harmlessness [18,19], and imperviousness to environmental fluid [10] properties
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