张永顺, 刘巍, 张瑞侠, 贾振元. 外磁场驱动医用微型机器人的研究现状与展望[J]. 机器人, 2005, 27(3): 278-283..
ZHANG Yongshun, LIU Wei, ZHANG Ruixia, JIA Zhenyuan. Status and Prospects of Medical Micro Robots Driven by Exterior Magnetic Field. ROBOT, 2005, 27(3): 278-283..
Abstract:The latest domestic and oversea developments of in vivo micro medical robots driven by exterior magnetic field are introduced, and their working principles are analyzed. The analysis result indicates that the drive and control method ~using exterior magnetic field is an effective way and key technology for enhancing the applicability of in vivo micro medical robots. According to the actuality of our micro swimming robot driven by exterior magnetic field, the existing problems related to untethered micro robots driven by exterior magnetic field are exposed. Finally, the key technologies for their practical application and development trends are discussed.
[1] 蔡自兴.机器人学的发展趋势和发展战略[J].高技术通讯,2001,13(6):107-111. [2] 宋一然,颜国正,林良明.基于电磁驱动的蠕动型微机器人的运动机理[J].上海交通大学学报,2000,34(11):1504-1507. [3] 周银生,贺惠农,顾大强.医用微型机器人无损伤体内驱动方法[J].科学通报.1999,44(20):2210-2213. [4] Fukuda T, Kawamoto A,Arai F,et al.Mechanism and swimming experiment of micro robot in water[A]. Proceedings of the 1994 IEEE Conference on Robotics and Automation [C].San Diego, USA:IEEE,1994,vol.1.814-819. [5] Guo S X, Fukuda T, Kato N,et al.Development of underwater microrobot using ICPF actuator[A]. Proceeding of the 1998 IEEE Conference on Robotics and Automation [C]. New York, USA: IEEE,1998,vol.2.1829-1834. [6] 程良伦,杨宜民.一种新型管道内微机器人的研究[J].机器人,1999,21(4):249-255. [7] Honda. T. Swimming properties of a bending-type magnetic micro machine[J]. Journal of Magnetic, Society of Japan,2001,25(4-2):1175-1178. [8] Guo S X, Sasaki Y, Fukuda T.A fin type of microrobot in pipe[A].Proceedings of the 2002 International Symposium on Micromechatronics and Human Science[C]. Nagoya,Japan: IEEE,2002.93-98. [9] Honda T, Arai I,Ishiyama K,et al.Micro swimming mechanisms propelled by external magnetic fields[J]. IEEE Transactions on Magnetics,1996,32(5):5085-5087. [10] Ishiyama K , Sendoh M, Yamazaki A,et al.Swimming of magnetic micro-machines under a very wide-range of reynolds number conditions[J].IEEE Transactions on Magnetics,2001,37(4):2868-2870. [11] Sato M, Jojo H, Matsuki H, et al. The operation of a magnetic micromachine for hyperthermia and its exothermic characteristic [J].IEEE Transactions on Magnetics,2002,38(51):3362-3364. [12] Mei T,Yong C, Fu G Qet al. Wireless drive and control of a swimming microrobot [A]. Proceedings of the 2002 IEEE International Conference on Robotics and Automation[C]. Washington DC, USA:IEEE,2002.1131-1136. [13] Jager E W H, Inganas O, Lundstrom I,et al.Microrobots for micrometer-size objects in aqueous media: potential tools for single-cell manipulation[J]. Science,2000,288(5475):2335-2338.