磁性微球机器人在模拟血液中的运动控制  

Motion control of magnetic microsphere robot in simulated blood

作　　者：宋忠义 蒋占四[1] 刘楚 田永堂 徐海峰 SONG Zhongyi;JIANG Zhansi;LIU Chu;TIAN Yongtang;XU Haifeng(School of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guilin 541004,China;College of Engineering,Southern University of Science and Technology,Shenzhen 518055,China;Institute of Biomedical and Health Engineering,Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences,Shenzhen 518055,China)

机构地区：[1]桂林电子科技大学机电工程学院,广西桂林541004 [2]南方科技大学工学院,广东深圳518055 [3]中国科学院深圳先进技术研究院生物医学与健康工程研究所,广东深圳518055

出　　处：《传感器与微系统》2024年第1期17-20,24,共5页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(51565008);广西硕士研究生创新项目(YCSW2021187)。

摘　　要：微纳机器人因其尺寸小、操控精度高、易到达小腔道等优点,可精确、高效地递送药物,是未来精准医学的新方向。本文以明胶为基材,构建了磁性微球机器人系统,它兼具明胶对环境无毒、无污染、生物可降解的优点,以及磁场对生物组织无害、不与物质直接接触而实现控制等优点。通过优化制备条件如明胶浓度、搅拌速度和乳化剂的浓度及乳化时间,制备出稳定、均匀的明胶磁性微球。研究了粒径、磁场强度、频率及液体粘度对粒子运动的影响,进一步探讨了粒子在不同浓度的模拟血液中的运动控制。今后,可以结合机器视觉、自动识别导航等从而真正体现微纳技术的优势,有望获得广阔的医学应用前景。Micro-/nano-robots can deliver drugs accurately and efficiently,due to its advantages of small size,high control precision,and easy access to small cavities,which is a new direction for future precision medicine.A magnetic microsphere robot system is constructed using gelatin as the base material.It not only has the advantages of non-toxic,non-polluting and biodegradable gelatin,but also harmless to biological tissues and can realize control without directly contact with substances that magnetic field has.By optimizing the preparation conditions such as gelatin concentration,stirring speed,emulsifier concentration and emulsification time,stable and uniform gelatin magnetic microspheres are prepared.The effects of particle size,magnetic field strength,frequency and liquid viscosity on particle motion are studied.Motion control of particles in simulated blood at different concentrations is further explored.In the future,machine vision,automatic identification and navigation can be combined to truly reflect the advantages of micro-/nano-technology,and it is expected to obtain broad medical application prospects.

关 键 词：磁性微球机器人 磁场驱动 运动控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程]