TrinityMag:A novel magnetically actuated miniature robot manipulating system with a human-scale workspace  

作　　者：LI Dong CHEN BinHan HUANG ChenYang XU Sheng WU XinYu XU TianTian 

机构地区：[1]Guangdong Provincial Key Laboratory of Robotics and Intelligent System,Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China [2]Key Laboratory of Biomedical Imaging Science and System,Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China

出　　处：《Science China(Technological Sciences)》2024年第11期3546-3558,共13页中国科学（技术科学英文版）

基　　金：supported by the National Key Research and Development Program of China(Grant No.2023YFB4705300);the National Natural Science Foundation of China(Grant No.U22A2064);Shenzhen Science and Technology Program(Grant Nos.JCYJ20220818101611025,RCJC20231-211085926038);the Guangdong Basic and Applied Basic Research Foundation(Grant No.2022B1515120010);the SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems。

摘　　要：The development of the magnetic manipulating system is essential for applications of magnetically actuated miniature robots in biomedical practice,such as targeted therapy and precise surgery.However,the workspaces of existing magnetic manipulating systems for miniature robots are mostly insufficient to manipulate miniature robots inside human bodies.The present study proposes an innovative electromagnets-based manipulating system,TrinityMag,which can produce dynamic three-dimensional(3D)magnetic fields in a human-scale spherical workspace with a 2.6 m diameter.The magnetic field of a single electromagnet is simulated,and a new calibration technic is designed based on deep learning networks.Then,the arrangement of three electromagnets is optimized to produce maximal 3D arbitrary magnetic fields with limited currents.Moreover,a target-tracking algorithm is developed so that the TrinityMag can track the miniature robot in real time.Finally,the TrinityMag is validated in experiments to manipulate a soft millirobot to move in human-scale tortuous tracks with two types of locomotions.The maximum speed of the soft millirobot reaches 11.05 body length/s.Our work contributes to a significant increment in the workspace of the electromagnets-based manipulating system for miniature robots.We further expect that the TrinityMag could push the applications of miniature robots from laboratory to clinical practice.

关 键 词：magnetic manipulating system human-scale workspace magnetically actuated miniature robots 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]