锥螺旋泳动磁微机器人路径跟随控制

doi:10.3901/JME.260828

机械工程学报 ›› 2026, Vol. 62 ›› Issue (15): 382-396.doi: 10.3901/JME.260828

• 机器人与机构学 • 上一篇

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锥螺旋泳动磁微机器人路径跟随控制

李盼^1,2, 叶崇聪¹, 陈翼飞¹, 房德磊¹, 张峻霞¹, 梁存满^2,3

1. 天津科技大学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 300457;
2. 天津大学机构理论与装备设计教育部重点实验室天津 300354;
3. 华中科技大学智能制造装备与技术全国重点实验室武汉 430074

收稿日期:2025-08-31 修回日期:2025-12-15 发布日期:2026-10-13
作者简介:李盼，女，1990年出生，博士，副教授，硕士研究生导师。主要研究方向为柔性手术器械、磁微机器人、虚拟现实、人机交互。E-mail：panli19@tust.edu.cn;梁存满(通信作者)，男，1988年出生，博士，副研究员，硕士研究生导师。主要研究方向为微纳机器人、微纳米操作、柔性电子。E-mail：lcm@tju.edu.cn
基金资助:
国家自然科学基金(52305611, 52005369)、天津市自然科学基金(22JCQNJC00450)、智能制造装备与技术全国重点实验室开放基金(IMETKF2025008)和机构理论与装备设计教育部重点实验室开放基金资助项目。

Path Following Control of Cone-helical Swimming Magnetic Microrobots

LI Pan^1,2, YE Chongcong¹, CHEN Yifei¹, FANG Delei¹, ZHANG Junxia¹, LIANG Cunman^2,3

1. Tianjin Key Laboratory of Integrated Design and On-line Monitoring for Light Industry & Food Machinery and Equipment, Tianjin University of Science and Technology, Tianjin 300457;
2. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300354;
3. State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074

Received:2025-08-31 Revised:2025-12-15 Published:2026-10-13

摘要/Abstract

摘要： 在执行微创血管介入手术时，介入过程依赖医生的经验性操作，并且不可避免会遇到大曲率弯曲血管内操作受限的问题。研究设计了一种锥螺旋泳动磁微机器人，对其路径跟随控制策略展开研究，实现了磁微机器人的自动化操作过程。改进了传统A^*路径规划算法，考虑血管中的血斑障碍物，通过对其膨胀，生成曲率连续的全局最优路径。构建了基于视觉提取的双闭环控制策略，利用模糊控制原理融合Stanley算法与模型预测控制(MPC)算法，完成外环路径跟随控制，输出理想的运动状态参数。利用PI控制，完成内环转向控制，输出外磁场参数。在S型血管环境和U型血管血斑环境下进行路径跟随仿真，分析了不同初始误差和运动速度对路径跟随效果的影响。仿真结果显示，基于模糊控制的Stanley融合MPC算法避免了Stanley算法在跟踪过程中产生的抖动，追踪效果更加平稳，降低了MPC算法在转向过程中产生的误差，提高了追踪速度和跟踪精度，在转向处采用降速处理，比匀速运动前提下误差降低达到37.5%。在模拟血管中进行了路径跟随控制实验，验证了磁微机器人自动化控制在实际应用中的可行性。

关键词: 血管介入手术, 磁驱动, 微螺旋机器人, 路径规划, 路径跟踪, 自动控制

Abstract: In minimally invasive vascular interventional surgery, the intervention process relies on the doctor’s experiential operations and inevitably encounters issues with restricted operations in highly curved blood vessels. This research introduces a cone-helical swimming magnetic microrobot and investigates its path-following control strategy, achieving automation in the operation process of the microrobot. An enhanced A* path planning algorithm is developed, taking into account blood clots as obstacles in the vessels, by expanding them to generate globally optimal paths with continuous curvature. A dual closed-loop control strategy based on visual extraction is established, integrating fuzzy control principles with the Stanley algorithm and model predictive control (MPC) algorithm to accomplish outer-loop path-following control, providing ideal motion state parameters. Inner-loop steering control is achieved using PI control to output external magnetic field parameters. Path-following simulations are conducted in S-shaped and U-shaped blood vessel environments with blood clots, analyzing the impact of different initial errors and motion speeds on path-following effectiveness. The simulation results show that combining the Stanley algorithm with the MPC algorithm based on fuzzy control helps to eliminate the oscillations that occur during tracking with the Stanley algorithm, resulting in smoother tracking. This fusion decreases errors in steering associated with the MPC algorithm, and improves both tracking speed and accuracy. Deceleration is applied at steering positions, reducing errors by 37.5% compared to constant-speed motion. Path-following control experiments in simulated blood vessels validate the feasibility of automated control of the magnetic microrobot in practical applications.

Key words: vascular interventional surgery, magnetically driven, helical microrobot, path planning, path tracking, automatic control

中图分类号:

TG156

李盼, 叶崇聪, 陈翼飞, 房德磊, 张峻霞, 梁存满. 锥螺旋泳动磁微机器人路径跟随控制[J]. 机械工程学报, 2026, 62(15): 382-396.

LI Pan, YE Chongcong, CHEN Yifei, FANG Delei, ZHANG Junxia, LIANG Cunman. Path Following Control of Cone-helical Swimming Magnetic Microrobots[J]. Journal of Mechanical Engineering, 2026, 62(15): 382-396.

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http://www.cjmenet.com.cn/CN/Y2026/V62/I15/382

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锥螺旋泳动磁微机器人路径跟随控制

Path Following Control of Cone-helical Swimming Magnetic Microrobots

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