磁控式小型化医疗机器人研究综述与展望  

Review and Prospect on the Magnetic Actuation Miniaturized Medical Robots

作　　者：秦岩丁 蔡卓丛[1,2] 申亚京 韩建达 QIN Yanding;CAI Zhuocong;SHEN Yajing;HAN Jianda(College of Artificial Intelligence,Nankai University,Tianjin 300350;Institute of Intelligence Technology and Robotic Systems,Shenzhen Research Institute of Nankai University,Shenzhen 518081;Department of Electronic and Computer Engineering,Hong Kong University of Science and Technology,Hong Kong 999077,China)

机构地区：[1]南开大学人工智能学院,天津300350 [2]南开大学深圳研究院智能技术与机器人系统研究院,深圳518081 [3]香港科技大学电子与计算机工程系,中国香港999077

出　　处：《机械工程学报》2024年第17期1-21,共21页Journal of Mechanical Engineering

基　　金：深圳市科技计划(KQTD20210811090143060);深圳市可持续发展科技专项(KCXFZ20230731100900002);天津市自然科学基金重点项目(21JCZDJC00090)资助项目。

摘　　要：磁控式小型化医疗机器人能够被外部磁场隔空控制,在人体狭窄腔道内主动运动,检查并治疗人体深层的病变区域,在临床医疗领域具有巨大的潜力。根据尺度不同,磁控式小型化医疗机器人可分为厘米毫米尺度的胶囊机器人、毫米微米尺度的连续体机器人、微米纳米尺度的微型机器人。系统总结各自磁控原理、结构设计和潜在医疗应用,并综述最新研究进展。最后,展望磁控式小型化医疗机器人的未来研究方向,包括机器人材料的生物相容性,执行医疗任务的视觉反馈,多种医疗功能集成的小型化,运动控制的稳定性和鲁棒性。Magnetic actuated miniaturized medical robots(MAMMR)can be controlled by an external magnetic field to actively navigate through the narrow cavities of the human body,enabling inspection and treatment of the deep-seated diseased areas.This technology has great potential in the clinical medical field.According to the size difference,MAMMR can be divided into centimetre/millimetre-scale capsule robots,millimetre/micrometre-scale continuum robots,and micro/nanometre-scale microrobots.The magnetic-control principles,structural design and potential medical applications are systematically summarized,and the latest research progresses are reviewed.Finally,the prospects for future research directions of MAMMR are discussed,including the biocompatibility of robot materials,visual feedback for executing medical tasks,miniaturization of multiple medical modules,stability and robustness of motion control.

关 键 词：磁控式 医疗机器人 胶囊机器人 连续体机器人 微型机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]