Kinematic Model of a Magnetic-Microrobot Swarm in a Rotating Magnetic Dipole Field
Kinematic Model of a Magnetic-Microrobot Swarm in a Rotating Magnetic Dipole Field
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旋转磁偶极子磁场中磁微机器人群的运动学模型
DOI：
10.1109/lra.2020.2972857
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发表时间：
2020-02
影响因子：
5.2
通讯作者：
BhanuKiran Chaluvadi;K. M. Stewart;Adam J. Sperry;H. Fu;J. Abbott
中科院分区：
文献类型：
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作者：
BhanuKiran Chaluvadi;K. M. Stewart;Adam J. Sperry;H. Fu;J. Abbott
这封信描述了旋转磁偶极子场将如何操纵一群磁性微型机器人的位置和形状，特别是将旋转转化为向前推进的微型机器人，如螺旋游泳者和螺钉。该分析假设一个可以用质心和协方差矩阵来描述的群体，其中群体由任意未知数量的同质微型机器人组成。这封信的结果是一个运动学模型，可以用作运动规划器和反馈控制系统的先验模型。由于该模型是完全三维的，除了可以从医学图像中实际确定的定位信息外，不需要任何定位信息，因此该方法具有在体内医学应用的潜力。利用旋转的球形永磁体推动磁性螺钉穿过软组织模体，对模型进行了实验验证。
This letter describes how a rotating magnetic dipole field will manipulate the location and shape of a swarm of magnetic microrobots, specifically microrobots that convert rotation into forward propulsion, such as helical swimmers and screws. The analysis assumes a swarm that can be described by a centroid and a covariance matrix, with the swarm comprising an arbitrary and unknown number of homogenous microrobots. The result of this letter is a kinematic model that can be used as an a priori model for motion planners and feedback control systems. Because the model is fully three-dimensional and does not require any localization information beyond what could realistically be determined from medical images, the method has potential for in vivo medical applications. The model is experimentally verified using magnetic screws moving through a soft-tissue phantom, propelled by a rotating spherical permanent magnet.