磁驱动微纳机器人研究进展及关键技术  

Research progress and key techniques on magnetic micro-nano robot

作　　者：李盼 王志超 冯静 许博轩 房德磊 张琰 张峻霞 LI Pan;WANG Zhi-chao;FENG Jing;XU Bo-xuan;FANG De-lei;ZHANG Yan;ZHANG Jun-xia(College of Mechanical Engineering,Tianjin University of Science&Technology,Tianjin Key Lab of Integrated Design and On-line Monitoring for Light Industry&Food Machinery and Equipment,Tianjin 300222,China)

机构地区：[1]天津科技大学机械工程学院天津市轻工与食品工程机械装备集成设计与在线监控重点实验室,天津300222

出　　处：《磁性材料及器件》2023年第6期105-117,共13页Journal of Magnetic Materials and Devices

基　　金：国家自然科学基金资助项目(52005369);天津市应用基础研究项目(22JCQNJC00450);天津市教委科研计划项目(2019KJ226);天津市重点实验室开放基金项目(2020LIMFE03);天津市研究生科研创新项目(2022SKY105)。

摘　　要：微纳机器人体积尺度相对较小,可在复杂环境中经磁场控制精准抵达目标位置,对于生物医疗领域的应用具有重要意义。围绕磁驱动微纳机器人,对其结构形式、制备方式及磁导航系统等关键技术进行了分析。总结出结构形式与制备方式会直接影响微纳机器人在不同生物医疗环境的应用。合适的磁驱动系统是保证微纳机器人精准到达目标靶向位置的关键,鉴于此分析了磁驱动机理,主要包括磁梯度推进及旋转推进。归纳总结了微纳机器人的外磁场驱动装置,主要包括线圈驱动、永磁体驱动及电磁铁驱动。最后,分析展望了微纳机器人在结构形式及制备方式等方面的潜在创新,为微纳机器人在不同医疗环境的应用提供更多可行指导。Micro-nano robots are relatively small in size and can accurately reach the target position in complex environment controlled by magnetic field,which is of great significance for the biomedical applications.Focused on the magnetic micro-nano robot,the key techniques include the structure,preparation and magnetic navigation system are analyzed.It has been shown that the structure and preparation of the micro-nano robot directly effects the application in biomedical engineering area through analysis and summarization.Appropriate driving mechanism and control strategy can make sure that the micro-nano robot accurately reach the targeting area.In view of this,the magnetic driving mechanism is analyzed,which is mainly composed of magnetic gradient propulsion and rotary propulsion.The magnetic driving setup of the micro-nano is summarized.Finally,the potential innovation of micro-nano robot in structure form and preparation mode is prospected,which provides feasible guidance for the micro-nano robot in application of different biomedical environment.

关 键 词：微纳机器人 磁导航系统 磁驱动 技术 应用 

分 类 号：O441[理学—电磁学] TM15[理学—物理]