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...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-02-01
|
| Series: | Micromachines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-666X/13/2/337 |
| _version_ | 1797477897673375744 |
|---|---|
| author | Xiaoqing Tang Yuke Li Xiaoming Liu Dan Liu Zhuo Chen Tatsuo Arai |
| author_facet | Xiaoqing Tang Yuke Li Xiaoming Liu Dan Liu Zhuo Chen Tatsuo Arai |
| author_sort | Xiaoqing Tang |
| collection | DOAJ |
| 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. |
| first_indexed | 2024-03-09T21:24:17Z |
| format | Article |
| id | doaj.art-07bfee2c6d8a404084b0c0b2e68a5905 |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-09T21:24:17Z |
| publishDate | 2022-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-07bfee2c6d8a404084b0c0b2e68a59052023-11-23T21:12:18ZengMDPI AGMicromachines2072-666X2022-02-0113233710.3390/mi13020337Vision-Based Automated Control of Magnetic MicrorobotsXiaoqing Tang0Yuke Li1Xiaoming Liu2Dan Liu3Zhuo Chen4Tatsuo Arai5Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaMagnetic 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.https://www.mdpi.com/2072-666X/13/2/337magnetic microrobotsautomated controlpath planningcomputer visionobstacle avoidance |
| spellingShingle | Xiaoqing Tang Yuke Li Xiaoming Liu Dan Liu Zhuo Chen Tatsuo Arai Vision-Based Automated Control of Magnetic Microrobots Micromachines magnetic microrobots automated control path planning computer vision obstacle avoidance |
| 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 | magnetic microrobots automated control path planning computer vision obstacle avoidance |
| url | https://www.mdpi.com/2072-666X/13/2/337 |
| work_keys_str_mv | AT xiaoqingtang visionbasedautomatedcontrolofmagneticmicrorobots AT yukeli visionbasedautomatedcontrolofmagneticmicrorobots AT xiaomingliu visionbasedautomatedcontrolofmagneticmicrorobots AT danliu visionbasedautomatedcontrolofmagneticmicrorobots AT zhuochen visionbasedautomatedcontrolofmagneticmicrorobots AT tatsuoarai visionbasedautomatedcontrolofmagneticmicrorobots |