摘要
微型机器人能够进入人体并在狭窄环境中执行靶向治疗、微创手术等医疗任务。在驱动医用微型机器人的众多方式中,磁驱动具有无线操控、无伤穿透人体、响应速度快、控制自由度高、设计灵活等优点,因此磁驱微型机器人在医疗领域具有巨大的应用前景。该文首先概括磁驱微型机器人所用磁性元件的工作机理;在此基础上,依次介绍近年来磁驱微型机器人的驱动系统、运动模式、控制方法的研究进展;最后,讨论磁驱微型机器人的安全性和面临的挑战,为下一步的研究和实际医疗应用提供参考。
Microrobots can enter the human body and perform medical tasks such as targeted therapy,minimally invasive surgery in narrow environments.Among the numerous ways to actuate medical microrobots,magnetic actuation has the advantages of wireless operation,harmless penetration,fast response speed,high degree of control freedom,and flexible design.Therefore,magnetically actuated microrobots have great application potential in the medical field.This paper first summarizes the working mechanism of magnetic components used in magnetically actuated microrobots.Subsequently,it introduces the research progress of magnetically actuated microrobots in actuation systems,motion modes,control methods in recent years.Finally,the safety and challenges of magnetically actuated microrobots are discussed,which provides references for further scientific research and clinical applications.
作者
迮弃疾
宋思贤
黄淑浩
杨澍州
梁得亮
ZE Qiji;SONG Sixian;HUANG Shuhao;YANG Shuzhou;LIANG Deliang(State Key Laboratory of Electrical Insulation and Power Materials(Xi’an Jiaotong University),Xi’an 710049,Shaanxi Province,China)
出处
《中国电机工程学报》
北大核心
2025年第16期6561-6579,I0035,共20页
PROCEEDINGS OF THE CHINESE SOCIETY FOR ELECTRICAL ENGINEERING
基金
西安交通大学青年拔尖人才支持计划(DQ6J023)。
关键词
磁驱机器人
微型机器人
磁性材料
磁驱动
医疗应用
magnetically actuated robots
microrobots
magnetic materials
magnetic actuation
medical applications
