血流环境中磁控微机器人的操控机理与导航控制方法研究

磁控微机器人具有操控非接触性、微环境可达性和生物安全性，在药物靶向递送、微创介入诊疗等生物医学领域具有广泛的应用前景。本项目针对复杂血管网络环境中磁控微型机器人精确导航的关键问题，开展血流环境中磁控微机器人的操控机理与导航控制方法研究。研究磁场-血流场对微机器人的耦合作用机理，建立磁控微机器人系统动力学模型；基于计算机视觉，对微机器人位置信息进行检测和跟踪，建立反馈控制系统，规划血管网络中的导航路径，研究血流环境中磁控微机器人的导航控制方法；最后，基于去细胞化技术制备菠菜叶脉支架模拟血管网络环境，集成一体化磁控微型机器人操控系统，开展血管网络中机器人自主导航实验研究，验证操控机理和控制方法的有效性，并根据实验结果优化控制算法，提高导航的可靠性。本课题的研究成果将为磁控微机器人的体内导航提供理论依据和技术支撑，有望为微创介入诊疗等应用带来新的解决方案，具有重要的科学意义和实际应用价值。

Benefitting from non-contact manipulation, flexibility in the confined micro-environment and safety in in-vivo circulation system, magnetic-driven microrobots can navigate into in-vivo environment for diverse minimally invasive therapeutic and diagnostic applications. To meet with requirements of those applications, the control strategy of magnetic-driven microrobots in the complex blood flow environment is a most challenging task. This project aims at developing a control algorithm for automated in-vivo navigation of magnetic-driven microrobots using an enhanced magnetically microrobotic manipulation system which contains an integrated bionic blood microfluidic chip made of decellularized plants engineering scaffold. Firstly, the forces acting on the microrobot under the coupling magnetic and fluidic environment are studied, and the dynamics analysis of the microrobot is investigated. Secondly, via the feedback imaging of the microrobot and the fluidic environment, the micro-robot navigation control strategy in the fluid environment is developed. Finally, an integrated electromagnetic microrobotic manipulation system is designed and fabricated which consists magnetic field generation module, image visual feedback module, bionic blood microfluidic chip, then simulation and experiments are performed to verify both the efficiency of the navigation strategy and the capacity of the system. According to the results, the controller parameters and the algorithm can be optimized to achieve precise control. The research results of this project will provide a theoretical basis for the in vivo navigation of magnetic-driven microrobots, and likely to bring new solutions for drug targeted delivery and interventional therapy in practice.