1
|
Wei S, Zhang J, Chen D. Design and hierarchical analysis of magnetic actuated robot: A governing equation based approach. Comput Biol Med 2024; 171:108142. [PMID: 38394805 DOI: 10.1016/j.compbiomed.2024.108142] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/18/2023] [Revised: 01/25/2024] [Accepted: 02/12/2024] [Indexed: 02/25/2024]
Abstract
As the alternative solution to the conventional guidewire, the magnetic robot can help interventionists perform percutaneous coronary intervention (PCI) because magnetic fields are transparent and safe for biological tissues. Despite extensive research on magnetic robots, the exploration of their deflection control for practical applications still requires further research. In this paper, a hierarchical analysis framework (HAF) is proposed to control the magnetic robot's deflection. Six deflection subpatterns are analyzed through HAF, incorporating statistical and regression analyses to establish governing equations of magnetic robots. The performance of the control equations is validated through precise control of the magnetic continuum robot (MCR) and magnet-tipped robot (MTR) in both uniform and gradient magnetic fields. Experimental results show that under the uniform magnetic field, the average root mean square error (RMSE) of governing equation of MCR is 0.08±0.05°, 0.41±0.34°, 1.47±0.49° and 1.07±0.66° for four-types horizontal deflection, 0.19±0.07mm and 0.16±0.10mm for two-types vertical deflection, respectively. Based on the governing equations, the MTR is able to precisely navigate to coronary arteries with various degrees of stenosis (30%, 52%, and 60%), and successfully pass through a series of rings, with an average error of 1.05 mm. The research successfully demonstrates the potential of HAF in creating robust and reliable governing equations for magnetic actuation in medical robotics, with significant implications for enhancing the precision and safety of PCI procedures.
Collapse
Affiliation(s)
- Siyi Wei
- School of Automation, Beijing Institute of Technology, Beijing 100081, China
| | - Jinhui Zhang
- School of Automation, Beijing Institute of Technology, Beijing 100081, China.
| | - Duanduan Chen
- School of Life Science, Beijing Institute of Technology, Beijing 100081, China
| |
Collapse
|
2
|
Wang H, Cui J, Tian K, Han Y. Three-degrees-of-freedom orientation manipulation of small untethered robots with a single anisotropic soft magnet. Nat Commun 2023; 14:7491. [PMID: 37980421 PMCID: PMC10657469 DOI: 10.1038/s41467-023-42783-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/03/2023] [Accepted: 10/20/2023] [Indexed: 11/20/2023] Open
Abstract
Magnetic actuation has been well exploited for untethered manipulation and locomotion of small-scale robots in complex environments such as intracorporeal lumens. Most existing magnetic actuation systems employ a permanent magnet onboard the robot. However, only 2-DoF orientation of the permanent-magnet robot can be controlled since no torque can be generated about its axis of magnetic moment, which limits the dexterity of manipulation. Here, we propose a new magnetic actuation method using a single soft magnet with an anisotropic geometry (e.g., triaxial ellipsoids) for full 3-DoF orientation manipulation. The fundamental actuation principle of anisotropic magnetization and 3-DoF torque generation are analytically modeled and experimentally validated. The hierarchical orientation stability about three principal axes is investigated, based on which we propose and validate a multi-step open-loop control strategy to alternatingly manipulate the direction of the longest axis of the soft magnet and the rotation about it for dexterous 3-DoF orientation manipulation.
Collapse
Affiliation(s)
- Heng Wang
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China.
| | - Junhao Cui
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China
| | - Kuan Tian
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China
| | - Yuxiang Han
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China
| |
Collapse
|
3
|
Chen F, Chen L, Xu T, Ye H, Liao H, Zhang D. Precise angle estimation of capsule robot in ultrasound using heatmap guided two-stage network. COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE 2023; 240:107605. [PMID: 37390795 DOI: 10.1016/j.cmpb.2023.107605] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/31/2023] [Revised: 05/15/2023] [Accepted: 05/15/2023] [Indexed: 07/02/2023]
Abstract
PURPOSE A capsule robot can be controlled inside gastrointestinal (GI) tract by an external permanent magnet outside of human body for finishing non-invasive diagnosis and treatment. Locomotion control of capsule robot relies on the precise angle feedback that can be achieved by ultrasound imaging. However, ultrasound-based angle estimation of capsule robot is interfered by gastric wall tissue and the mixture of air, water, and digestive matter existing in the stomach. METHODS To tackle these issues, we introduce a heatmap guided two-stage network to detect the position and estimate the angle of the capsule robot in ultrasound images. Specifically, this network proposes the probability distribution module and skeleton extraction-based angle calculation to obtain accurate capsule robot position and angle estimation. RESULTS Extensive experiments were finished on the ultrasound image dataset of capsule robot within porcine stomach. Empirical results showed that our method obtained small position center error of 0.48 mm and high angle estimation accuracy of 96.32%. CONCLUSION Our method can provide precise angle feedback for locomotion control of capsule robot.
Collapse
Affiliation(s)
- Fang Chen
- Key Laboratory of Brain-Machine Intelligence Technology, Ministry of Education, Nanjing University of Aeronautics and Astronautics, Nanjing, China; College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
| | - Lingyu Chen
- Key Laboratory of Brain-Machine Intelligence Technology, Ministry of Education, Nanjing University of Aeronautics and Astronautics, Nanjing, China; College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Tianze Xu
- Key Laboratory of Brain-Machine Intelligence Technology, Ministry of Education, Nanjing University of Aeronautics and Astronautics, Nanjing, China; College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Haoran Ye
- Key Laboratory of Brain-Machine Intelligence Technology, Ministry of Education, Nanjing University of Aeronautics and Astronautics, Nanjing, China; College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Hongen Liao
- Department of Biomedical Engineering, School of Medicine, Tsinghua University, China
| | - Daoqiang Zhang
- Key Laboratory of Brain-Machine Intelligence Technology, Ministry of Education, Nanjing University of Aeronautics and Astronautics, Nanjing, China; College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| |
Collapse
|
4
|
Wang H, Song X, Xiong J, Cheang UK. Fabrication of Bilayer Magnetically Actuated L-Shaped Microrobot Based on Chitosan via Photolithography. Polymers (Basel) 2022; 14:polym14245509. [PMID: 36559876 PMCID: PMC9784805 DOI: 10.3390/polym14245509] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/04/2022] [Revised: 12/11/2022] [Accepted: 12/13/2022] [Indexed: 12/23/2022] Open
Abstract
Magnetically actuated microrobots showed increasing potential in various fields, especially in the biomedical area, such as invasive surgery, targeted cargo delivery, and treatment. However, it remains a challenge to incorporate biocompatible natural polymers that are favorable for practical biomedical applications. In this work, bilayer magnetic microrobots with an achiral planar design were fabricated using a biocompatible natural polymer and Fe3O4 nanoparticles through the photolithography by applying the layer-by-layer method. The microrobots consisted of a magnetic bottom layer and a photo-crosslinked chitosan top layer. The SEM results showed that the microrobot processed the L-shaped planar structure with the average width, length, and thickness of 99.18 ± 5.11 μm, 189.56 ± 11.37 μm, and 23.56 ± 4.08 μm, respectively. Moreover, microrobots actuated using a three-dimensional (3D) Helmholtz coil system was characterized and reached up to an average maximum velocity of 325.30 μm/s and a step-out frequency of 14 Hz. Furthermore, the microrobots exhibited excellent cell biocompatibility towards L929 cells in the CCK-8 assay. Therefore, the development of bi-layered chitosan-based microrobots offers a general solution for using magnetic microrobots in biomedical applications by providing an easy-to-fabricate, highly mobile microrobotic platform with the incorporation of biocompatible natural polymers for enhanced biocompatibility.
Collapse
Affiliation(s)
- Haoying Wang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Correspondence: (H.W.); (U.K.C.)
| | - Xiaoxia Song
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - Junfeng Xiong
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
| | - U Kei Cheang
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
- Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Southern University of Science and Technology, Shenzhen 518055, China
- Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities, Southern University of Science and Technology, Shenzhen 518055, China
- Correspondence: (H.W.); (U.K.C.)
| |
Collapse
|
5
|
Xu Z, Xu Q. Collective Behaviors of Magnetic Microparticle Swarms: From Dexterous Tentacles to Reconfigurable Carpets. ACS NANO 2022; 16:13728-13739. [PMID: 35925818 DOI: 10.1021/acsnano.2c05244] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Microrobot swarms have promising prospects in biomedical applications ranging from targeted cargo delivery to minimally invasive surgery. However, such potential is constrained by the small output force and low efficiency of the current microrobot swarms. To address this challenge, we report a tentacle-like reconfigurable microrobot swarm by programming paramagnetic microparticles into reconfigurable carpets with numerous cilia. This wirelessly controlled microrobot swarm is constructed via a strong gradient magnetic field in combination with a programmable oscillating magnetic field. The gradient magnetic field is supplied by a permanent magnet, which enables fast formation of a microrobot swarm with powerful collective behaviors via cooperative physical structures within the swarm. The oscillating magnetic field is produced by a custom-built electromagnetic coil system, which is adopted as an actuation device for conducting dexterous manipulation via controllable oscillation motion. Using the proposed microrobot swarming strategy, a milligram-level magnetic carpet achieves a millinewton-level output force. By applying different types of magnetic fields, the magnetic carpet accomplishes dexterous manipulation tasks, lesion removal, and controllable drug diffusion with a high-efficiency response in microscale executions. The formation and control mechanisms of the microrobot swarm reported here provide a practical candidate for in vivo biomedical treatment.
Collapse
Affiliation(s)
- Zichen Xu
- Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau 999078, China
| | - Qingsong Xu
- Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau 999078, China
| |
Collapse
|
6
|
Deployable Tubular Mechanisms Integrated with Magnetic Anchoring and Guidance System. ACTUATORS 2022. [DOI: 10.3390/act11050124] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
Abstract
Deployable mechanism has received more attention in the medical field due to its simple structure, dexterity, and flexibility. Meanwhile, the advantages of the Magnetic Anchoring and Guidance System (MAGS) are further highlighted by the fact that the operators can remotely control the corresponding active and passive magnetic parts in vivo. Additionally, MAGS allows the untethered manipulation of intracorporeal devices. However, the conventional instruments in MAGS are normally rigid, compact, and less flexible. Therefore, to solve this problem, four novel deployable tubular mechanisms, Design 1 (Omega-shape mechanism), Design 2 (Fulcrum-shape mechanism), Design 3 (Archway-shape mechanism), and Design 4 (Scissor-shape mechanism) in this paper, are proposed integrated with MAGS to realize the laser steering capability. Firstly, this paper introduces the motion mechanism of the four designs and analyzes the motion characterization of each structure through simulation studies. Further, the prototypes of four designs are fabricated using tubular structures with embedded magnets. The actuation success rate, the workspace characterization, the force generation and the load capability of four mechanisms are tested and analyzed based on experiments. Then, the demonstration of direct laser steering via macro setup shows that the four mechanisms can realize the laser steering capability within the error of 0.6 cm. Finally, the feasibility of indirect laser steering via a macro-mini setup is proven. Therefore, such exploration demonstrates that the application of the deployable tubular mechanisms integrated with MAGS towards in vivo treatment is promising.
Collapse
|
7
|
Ji Y, Bai X, Sun H, Wang L, Xu J, Gan C, Dai Y, Hui H, Feng L. Biocompatible Ferrofluid Robot With Photothermal Property for Targeted Tumor Therapy. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3201696] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Affiliation(s)
- Yiming Ji
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Xue Bai
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Hongyan Sun
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Luyao Wang
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Junjie Xu
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Chunyuan Gan
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Yuguo Dai
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| | - Hui Hui
- CAS Key Laboratory of Molecular Imaging, The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Beijing, China
| | - Lin Feng
- School of Mechanical Engineering & Automation, Beihang University, Beijing, China
| |
Collapse
|
8
|
Zhang J. Evolving from Laboratory Toys towards Life-Savers: Small-Scale Magnetic Robotic Systems with Medical Imaging Modalities. MICROMACHINES 2021; 12:1310. [PMID: 34832722 PMCID: PMC8620623 DOI: 10.3390/mi12111310] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/23/2021] [Revised: 10/15/2021] [Accepted: 10/20/2021] [Indexed: 12/23/2022]
Abstract
Small-scale magnetic robots are remotely actuated and controlled by an externally applied magnetic field. These robots have a characteristic size ranging from several millimetres down to a few nanometres. They are often untethered in order to access constrained and hard-to-reach space buried deep in human body. Thus, they promise to bring revolutionary improvement to minimally invasive diagnostics and therapeutics. However, existing research is still mostly limited to scenarios in over-simplified laboratory environment with unrealistic working conditions. Further advancement of this field demands researchers to consider complex unstructured biological workspace. In order to deliver its promised potentials, next-generation small-scale magnetic robotic systems need to address the constraints and meet the demands of real-world clinical tasks. In particular, integrating medical imaging modalities into the robotic systems is a critical step in their evolution from laboratory toys towards potential life-savers. This review discusses the recent efforts made in this direction to push small-scale magnetic robots towards genuine biomedical applications. This review examines the accomplishment achieved so far and sheds light on the open challenges. It is hoped that this review can offer a perspective on how next-generation robotic systems can not only effectively integrate medical imaging methods, but also take full advantage of the imaging equipments to enable additional functionalities.
Collapse
Affiliation(s)
- Jiachen Zhang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China
| |
Collapse
|