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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...
Autores principales: | , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2022
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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. |
format | Online Article Text |
id | pubmed-8874381 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2022 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
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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