Magnetically driven microrobots moving in a flow:a review  

作　　者：Jiamiao MIAO Xiaopu WANG Yan ZHOU Min YE Hongyu ZHAO Ruoyu XU Huihuan QIAN 

机构地区：[1]School of Science and Engineering,the Chinese University of Hong Kong(Shenzhen),Shenzhen 518172,China [2]Shenzhen Institute of Artificial Intelligence and Robotics for Society(AIRS),Shenzhen 518129,China

出　　处：《Frontiers of Information Technology & Electronic Engineering》2023年第11期1520-1540,共21页信息与电子工程前沿（英文版）

基　　金：supported by the Shenzhen Institute of Artificial Intelligence and Robotics for Society,China (No.AC01202101106)。

摘　　要：Magnetically driven microrobots hold great potential to perform specific tasks more locally and less invasively in the human body.To reach the lesion area in vivo,microrobots should usually be navigated in flowing blood,which is much more complex than static liquid.Therefore,it is more challenging to design a corresponding precise control scheme.A considerable amount of work has been done regarding control of magnetic microrobots in a flow and the corresponding theories.In this paper,we review and summarize the state-of-the-art research progress concerning magnetic microrobots in blood flow,including the establishment of flow systems,dynamics modeling of motion,and control methods.In addition,current challenges and limitations are discussed.We hope this work can shed light on the efficient control of microrobots in complex flow environments and accelerate the study of microrobots for clinical use.

关 键 词：MICROROBOT FLOW Dynamics modeling Control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]