Automated Magnetic Microrobot Control: From Mathematical Modeling to Machine Learning
Mathematics,
Год журнала:
2024,
Номер
12(14), С. 2180 - 2180
Опубликована: Июль 11, 2024
Microscale
robotics
has
emerged
as
a
transformative
field,
offering
unparalleled
opportunities
for
innovation
and
advancement
in
various
fields.
Owing
to
the
distinctive
benefits
of
wireless
operation
heightened
level
safety,
magnetic
actuation
widely
adopted
technique
field
microrobotics.
However,
factors
such
Brownian
motion,
fluid
dynamic
flows,
nonlinear
forces
introduce
uncertainties
motion
micro/nanoscale
robots,
making
it
challenging
achieve
precise
navigational
control
complex
environments.
This
paper
presents
an
extensive
review
encompassing
trajectory
from
theoretical
foundations
generation
modeling
fields
well
field-actuation
methods
microrobots.
We
traditional
learning-based
approaches
robotic
systems
at
micro/nanoscale,
then
these
are
compared.
Unlike
conventional
navigation
based
on
mathematical
models,
can
directly
learn
signals
data
without
relying
models.
endows
micro/nanorobots
with
high
adaptability
environments
whose
models
difficult/impossible
obtain.
hope
that
this
provide
insights
guidance
researchers
interested
automated
microrobot
control.
Язык: Английский
A double-loop robust position and speed control of an electromagnetic actuator against nonlinear model uncertainties
Control Engineering Practice,
Год журнала:
2025,
Номер
160, С. 106318 - 106318
Опубликована: Март 22, 2025
Язык: Английский
Untethered subcentimeter flying robots
Science Advances,
Год журнала:
2025,
Номер
11(13)
Опубликована: Март 28, 2025
The
miniaturization
of
insect-scale
flying
robots
with
untethered
flights
is
extremely
challenging
as
the
tradeoff
between
mass
and
power
becomes
problematic.
Here,
a
subcentimeter
rotating-wing
robot
21
mg
in
weight
9.4
mm
wingspan
driven
by
single-axis
alternating
magnetic
field
has
accomplished
navigable
flights.
This
artificial
lightest
smallest
to
realize
controllable
aerial
travels
including
hovering,
collision
recovery,
route
adjustments.
Experimentally,
it
achieved
high
aerodynamic
efficacy
measured
lift-to-drag
ratio
0.7
lift–to–flying
7.2
×
10
−2
N/W
at
Reynolds
number
~2500.
wireless
driving
mechanism,
system
operation
principle,
flight
characteristics
can
be
further
optimized
for
advancement
scale
robots.
Язык: Английский
Regulating the Azo‐Functionalization of Covalent Organic Frameworks for Photo‐Modulated Adsorption and Sensing of Aniline
Advanced Functional Materials,
Год журнала:
2025,
Номер
unknown
Опубликована: Апрель 3, 2025
Abstract
Photoresponsive
materials
have
garnered
considerable
attention,
particularly
azo‐functionalized
covalent
organic
frameworks
(COFs),
due
to
their
unique
ability
undergo
cis/trans
isomerization
under
UV/visible
light
irradiation,
making
them
highly
promising
in
the
field
of
adsorption.
In
this
work,
innovative
post‐synthetic
modification
(PSM)
approach
is
developed
introduce
azobenzene
groups,
resulting
construction
three
COFs
with
varying
degrees
azo‐functionalization
(ThTFB‐nN
=
N,
n
1,
2,
3).
It
found
that
ThTFB‐nN
N
exhibits
reversible
alternating
irradiation
365
and
450
nm
light,
degree
azo
content
within
framework,
as
well
trans
‐
cis
isomerization,
can
significantly
influence
material's
properties.
Notably,
‐ThTFB‐3N
demonstrates
highest
adsorption
capacity
for
aniline
at
303.3
mg·g
−1
,
representing
a
nearly
tenfold
enhancement
compared
(30.7
).
Additionally,
ThTFB‐3N
shows
excellent
fluorescence
detection
capability
aniline,
achieving
limit
22
ppb.
To
investigate
underlying
mechanisms
detection,
density
functional
theory
(DFT)
calculations
are
conducted.
conclusion,
work
introduces
novel
PSM
strategy
incorporating
photoresponsive
units,
leading
multifunctional
material
substantial
potential
detection.
Язык: Английский
Teleoperated Magnetic Endoscopy: A Case Study and Perspective
Advanced Intelligent Systems,
Год журнала:
2024,
Номер
unknown
Опубликована: Авг. 18, 2024
Teleoperated
robotic
surgery
is
a
rapidly
growing
field
that
promises
to
overcome
geographical
barriers
and
share
expertise
over
long
distances
for
variety
of
minimally
invasive
procedures.
A
particularly
promising
technology
teleoperation
magnetic
navigation.
In
contrast
conventional
surgical
robots,
navigation
system
generates
external
fields
safely
dexterously
steer
soft
devices
within
the
human
body,
enabling
versatile,
economical,
accessible
telesurgery
platform
This
perspective
highlights
recent
research
efforts
in
platforms
their
translation
clinical
settings
context
endoscopic
discussion
supported
by
case
study
performed
at
Multi‐Scale
Medical
Robotics
Center
Hong
Kong,
where
an
vivo
gastroscopy
porcine
model
tandem
with
two
operators,
alternating
between
clinician
controlling
procedure
from
operating
room
Kong
remote
expert
operator
console
Zurich.
The
achievements
challenges
this
highlight
capabilities
future
potential
telesurgery.
Язык: Английский
Nanozyme‐Shelled Microcapsules for Targeting Biofilm Infections in Confined Spaces
Advanced Healthcare Materials,
Год журнала:
2024,
Номер
unknown
Опубликована: Окт. 14, 2024
Abstract
Bacterial
infections
in
irregular
and
branched
confinements
pose
significant
therapeutic
challenges.
Despite
their
high
antimicrobial
efficacy,
enzyme‐mimicking
nanoparticles
(nanozymes)
face
difficulties
achieving
localized
catalysis
at
distant
infection
sites
within
confined
spaces.
Incorporating
nanozymes
into
microrobots
enables
the
delivery
of
catalytic
agents
to
hard‐to‐reach
areas,
but
poor
nanoparticle
dispersibility
distribution
during
fabrication
hinder
performance.
To
address
these
challenges,
a
nanozyme‐shelled
microrobotic
platform
is
introduced
using
magnetic
microcapsules
with
collective
adaptive
mobility
for
automated
navigation
complex
confinements.
Using
double
emulsions
produced
from
microfluidics
as
templates,
iron
oxide
silica
are
assembled
100‐µm
microcapsules,
which
self‐organize
multi‐unit,
millimeter‐size
assemblies
under
rotating
fields.
These
exhibit
peroxidase‐like
activity,
efficiently
catalyzing
hydrogen
peroxide
generate
reactive
oxygen
species
(ROS).
Notably,
microcapsule
display
remarkable
arched
confinements,
reaching
targeted
apical
regions
tooth
canal
accuracy.
Furthermore,
perform
rapid
situ
effectively
kill
biofilms
on
contact
via
ROS
generation,
enabling
antibiofilm
action.
This
study
demonstrates
facile
method
integrating
onto
versatile
current
needs
microenvironments.
Язык: Английский
The Design of Endovascugular Robots for Cardiac Interventions: A Survey
Journal of Field Robotics,
Год журнала:
2024,
Номер
unknown
Опубликована: Дек. 5, 2024
ABSTRACT
The
paper
presents
a
survey
of
modern
robots
for
percutaneous
coronary
interventions.
It
covers
papers
published
before
October
2024.
robotic
systems
introduced
in
these
are
compared
by
their
design,
tool
manipulation
principles,
surgical
tools
compatibility,
and
human–machine
interfaces,
including
types
feedback.
provides
an
overview
all
main
design
approaches
ever
implemented
intervention
robotics
critically
analyzes
pros
cons.
62
endovascular
(11
commercial
51
academic)
23
tools,
making
it
the
most
representative
to
date
best
our
knowledge.
All
solutions
have
been
at
least
as
prototypes,
while
some
them
tested
vivo
even
reached
clinical
practice.
In
discussion
section,
we
analyze
known
field
experience
with
use
CorPath
GRX
(one
popular
currently
used
several
hospitals
around
world),
discuss
reasons
insufficient
spread
surgery
propose
vision
changing
this
trend.
This
is
intended
primarily
engineers
designing
new
medical
systems.
However,
will
also
be
interest
surgeons
help
better
understand
trade‐offs
both
products
already
market
promising
that
available
future.
Язык: Английский
Magnetic Torque‐Driven All‐Terrain Microrobots
Small,
Год журнала:
2024,
Номер
20(48)
Опубликована: Сен. 10, 2024
Abstract
All‐terrain
microrobots
possess
significant
potential
in
modern
medical
applications
due
to
their
superior
maneuverability
complex
terrains
and
confined
spaces.
However,
conventional
often
struggle
with
adaptability
operational
difficulties
variable
environments.
This
study
introduces
a
magnetic
torque‐driven
all‐terrain
multiped
microrobot
(MTMR)
address
these
challenges.
By
coupling
the
structure's
multiple
symmetries
different
uniform
fields,
such
as
rotating
oscillating
MTMR
demonstrates
various
locomotion
modes,
including
rolling,
tumbling,
walking,
jumping,
combinations.
Experimental
results
indicate
that
robot
can
navigate
diverse
terrains,
flat
surfaces,
steep
slopes
(up
75°),
gaps
over
twice
its
body
height.
Additionally,
performs
well
spaces,
capable
of
passing
through
slits
(0.1
length)
low
tunnels
(0.25
length).
The
shows
for
clinical
like
minimally
invasive
hemostasis
internal
bleeding
thrombus
removal
from
blood
vessels
accurate
cargo
manipulation
capability.
Moreover,
carry
temperature
sensors
monitor
environmental
changes
real
time
while
simultaneously
manipulating
objects,
displaying
in‐situ
sensing
parallel
task
implementation.
technology
notable
versatility,
providing
solid
foundation
practical
interventional
medicine.
Язык: Английский
Ligand Inter‐Relation Analysis Via Graph Theory Predicts Macrophage Response
Advanced Materials,
Год журнала:
2024,
Номер
unknown
Опубликована: Дек. 24, 2024
Abstract
Graph
theory
has
been
widely
used
to
quantitatively
analyze
complex
networks
of
molecules,
materials,
and
cells.
Analyzing
the
dynamic
structure
extracellular
matrix
can
predict
cell‐material
interactions
but
not
yet
demonstrated.
In
this
study,
graph
theory‐based
mathematical
modeling
RGD
ligand
inter‐relation
is
demonstrated
by
differentially
cutting
off
RGD‐to‐RGD
interlinkages
with
flexibly
conjugated
magnetic
nanobars
(MNBs)
tunable
aspect
ratio.
The
are
less
effectively
cut
MNBs
a
lower
ratio,
which
decreases
shortest
path
while
increasing
number
instances
thereof,
thereby
augmenting
nano
inter‐relation.
This
facilitates
integrin
recruitment
macrophages
thus
actin
fiber
assembly
vinculin
expression,
mediates
pro‐regenerative
polarization,
involving
myosin
II,
polymerization,
rho‐associated
protein
kinase.
Unidirectional
pre‐aligning
or
reversibly
lifting
highly
elongated
both
increase
inter‐relation,
promotes
host
macrophage
adhesion
switches
their
polarization
from
pro‐inflammatory
phenotype.
latter
approach
produces
nano‐spaces
through
penetrate
establish
links
thereunder.
Using
theory,
study
presents
example
mathematically
functionality
extracellular‐matrix‐mimetic
help
elucidate
dynamics
occurring
between
cells
materials
via
versatile
geometrical
nano‐engineering.
Язык: Английский