磁控式小型化医疗机器人研究综述与展望

doi:10.3901/JME.2024.17.001

机械工程学报 ›› 2024, Vol. 60 ›› Issue (17): 1-21.doi: 10.3901/JME.2024.17.001

• 特邀专栏：面向人民生命健康的机器人技术 • 上一篇下一篇

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磁控式小型化医疗机器人研究综述与展望

秦岩丁^1,2, 蔡卓丛^1,2, 申亚京³, 韩建达^1,2

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香港 999077

收稿日期:2024-01-30 修回日期:2024-04-25 发布日期:2024-10-21
作者简介:秦岩丁，男，1983年出生，博士，教授，博士研究生导师。主要研究方向为医疗与辅助机器人，微纳操作机器人，磁控式机器人。E-mail:qinyd@nankai.edu.cn
蔡卓丛，男，1997年出生，博士研究生。主要研究方向为磁控式机器人。E-mail:1120230238@mail.nankai.edu.cn
申亚京，男，1982年出生，博士，教授，博士研究生导师。主要研究方向为智能微型机器人，生物医学机器人，人机交互。E-mail:eeyajing@ust.hk
韩建达(通信作者)，男，1968年出生，博士，教授，博士研究生导师。主要研究方向为机器人自主行为共性技术，医疗手术与康复机器人、移动机器人技术与系统。E-mail:hanjianda@nankai.edu.cn
基金资助:
深圳市科技计划(KQTD20210811090143060)、深圳市可持续发展科技专项(KCXFZ20230731100900002)和天津市自然科学基金重点项目(21JCZDJC00090)资助项目。

Review and Prospect on the Magnetic Actuation Miniaturized Medical Robots

QIN Yanding^1,2, CAI Zhuocong^1,2, SHEN Yajing³, HAN Jianda^1,2

1. College of Artificial Intelligence, Nankai University, Tianjin 300350;
2. Institute of Intelligence Technology and Robotic Systems, Shenzhen Research Institute of Nankai University, Shenzhen 518081;
3. Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong 999077

Received:2024-01-30 Revised:2024-04-25 Published:2024-10-21

摘要/Abstract

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。

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

Abstract: 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.

Key words: magnetic actuation, medical robot, capsule robot, continuum robot, microrobot

中图分类号:

TP242

秦岩丁, 蔡卓丛, 申亚京, 韩建达. 磁控式小型化医疗机器人研究综述与展望[J]. 机械工程学报, 2024, 60(17): 1-21.

QIN Yanding, CAI Zhuocong, SHEN Yajing, HAN Jianda. Review and Prospect on the Magnetic Actuation Miniaturized Medical Robots[J]. Journal of Mechanical Engineering, 2024, 60(17): 1-21.

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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

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