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Vision-Based Automated Control of Magnetic Microrobots

Magnetic microrobots are vital tools for targeted therapy, drug delivery, and micromanipulation on cells in the biomedical field. In this paper, we report an automated control and path planning method of magnetic microrobots based on computer vision. Spherical microrobots can be driven in the rotati...

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Detalles Bibliográficos
Autores principales: Tang, Xiaoqing, Li, Yuke, Liu, Xiaoming, Liu, Dan, Chen, Zhuo, Arai, Tatsuo
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8874381/
https://www.ncbi.nlm.nih.gov/pubmed/35208461
http://dx.doi.org/10.3390/mi13020337
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author Tang, Xiaoqing
Li, Yuke
Liu, Xiaoming
Liu, Dan
Chen, Zhuo
Arai, Tatsuo
author_facet Tang, Xiaoqing
Li, Yuke
Liu, Xiaoming
Liu, Dan
Chen, Zhuo
Arai, Tatsuo
author_sort Tang, Xiaoqing
collection PubMed
description Magnetic microrobots are vital tools for targeted therapy, drug delivery, and micromanipulation on cells in the biomedical field. In this paper, we report an automated control and path planning method of magnetic microrobots based on computer vision. Spherical microrobots can be driven in the rotating magnetic field generated by electromagnetic coils. Under microscopic visual navigation, robust target tracking is achieved using PID–based closed–loop control combined with the Kalman filter, and intelligent obstacle avoidance control can be achieved based on the dynamic window algorithm (DWA) implementation strategy. To improve the performance of magnetic microrobots in trajectory tracking and movement in complicated environments, the magnetic microrobot motion in the flow field at different velocities and different distribution obstacles was investigated. The experimental results showed that the vision-based controller had an excellent performance in a complex environment and that magnetic microrobots could be controlled to move to the target position smoothly and accurately. We envision that the proposed method is a promising opportunity for targeted drug delivery in biological research.
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spelling pubmed-88743812022-02-26 Vision-Based Automated Control of Magnetic Microrobots Tang, Xiaoqing Li, Yuke Liu, Xiaoming Liu, Dan Chen, Zhuo Arai, Tatsuo Micromachines (Basel) Article Magnetic microrobots are vital tools for targeted therapy, drug delivery, and micromanipulation on cells in the biomedical field. In this paper, we report an automated control and path planning method of magnetic microrobots based on computer vision. Spherical microrobots can be driven in the rotating magnetic field generated by electromagnetic coils. Under microscopic visual navigation, robust target tracking is achieved using PID–based closed–loop control combined with the Kalman filter, and intelligent obstacle avoidance control can be achieved based on the dynamic window algorithm (DWA) implementation strategy. To improve the performance of magnetic microrobots in trajectory tracking and movement in complicated environments, the magnetic microrobot motion in the flow field at different velocities and different distribution obstacles was investigated. The experimental results showed that the vision-based controller had an excellent performance in a complex environment and that magnetic microrobots could be controlled to move to the target position smoothly and accurately. We envision that the proposed method is a promising opportunity for targeted drug delivery in biological research. MDPI 2022-02-21 /pmc/articles/PMC8874381/ /pubmed/35208461 http://dx.doi.org/10.3390/mi13020337 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Tang, Xiaoqing
Li, Yuke
Liu, Xiaoming
Liu, Dan
Chen, Zhuo
Arai, Tatsuo
Vision-Based Automated Control of Magnetic Microrobots
title Vision-Based Automated Control of Magnetic Microrobots
title_full Vision-Based Automated Control of Magnetic Microrobots
title_fullStr Vision-Based Automated Control of Magnetic Microrobots
title_full_unstemmed Vision-Based Automated Control of Magnetic Microrobots
title_short Vision-Based Automated Control of Magnetic Microrobots
title_sort vision-based automated control of magnetic microrobots
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8874381/
https://www.ncbi.nlm.nih.gov/pubmed/35208461
http://dx.doi.org/10.3390/mi13020337
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