Mobile Actuation Systems for Magnetic Small-scale Robots

About the Authors xiii
Preface xv
List of Acronyms xix

1 Introduction to Mobile Magnetic Actuation System 1
1.1 Introduction 1
1.2 Magnetic Actuation Systems 4
1.3 Development of Magnetic Actuation Systems 17
1.4 Typical Applications of Magnetic Actuation Systems 24
1.5 Scope and Layout of the Book 32

2 Design and Real-time Optimization for a Magnetic Actuation System with Enhanced Flexibility 41
2.1 Introduction 41
2.2 System Design, Modeling, and Optimization 43
2.3 System Prototype and Validation 50
2.4 Autonomous Navigation of a Microrobot Under Ultrasound Doppler Imaging 56
2.5 Discussion and Conclusion 65

3 Deep Reinforcement Learning Framework-based System Control for Soft Microrobots 73
3.1 Introduction 73
3.2 System Design and Modeling 74
3.3 Construction of the Control Framework 79
3.4 Experimental Validation 84
3.5 Discussion and Conclusion 89

4 Reconfigurable Electromagnetic Actuation System and Robust Control in Fluid Environments 99
4.1 Introduction 99
4.2 System Design and Modeling 101
4.3 Multi-objective Optimization Method for Coil Configuration Generation 109
4.4 System Validation and Analysis 113
4.5 Construction of Path Control Framework 117
4.6 Experimental Validation and Results 127
4.7 Discussion and Conclusion 132

5 Performance-guided Optimization and Field-priority Force Control for Large Workspaces 137
5.1 Introduction 137
5.2 Performance-guided Rotating Field Control Method 140
5.3 Field-priority Force Control Method 146
5.4 Experimental Validation and Analysis 152
5.5 Discussion and Conclusion 162

6 Multimode Control and Optimal Design of a Parallel-mobile-coil System 169
6.1 Introduction 169
6.2 System Design and Modeling 172
6.3 Multimode Control and Validation 179
6.4 System Structure Design with Parameter Optimization 183
6.5 Validation of Microrobotic Navigation Control 188
6.6 Discussion and Conclusion 197

7 Autonomous Microrobot Navigation Using Parallel-mobile-coil System 201
7.1 Introduction 201
7.2 Design of Motion Planner and Motion Controller 205
7.3 Simulation and Experimental Validation 216
7.4 Control Scheme and Environment Registration 223
7.5 Experimental Navigation in Flowing Conditions 234
7.6 Discussion and Conclusion 238

8 Magnetically Controlled Guidewire Robotic System for Vascular Intervention 249
8.1 Introduction 249
8.2 Design of the MCGRS 251
8.3 Modeling and Trajectory Planning 254
8.4 Experimental Setup and Validations 262
8.5 Strategy Design for Hard-to-reach Vessels 269
8.6 In Vivo Validation of the Multistage Embolization Strategy 272
8.7 Discussion and Conclusion 278

9 Parallel-mobile-coil System for Wired Magnetic Microrobot 283
9.1 Introduction 283
9.2 Robotic Hardware and Control Framework 286
9.3 Structure Design and Control Framework of WMM 299
9.4 Experimental Results and Discussion 308
9.5 Discussion and Conclusion 318

10 Conclusion and Outlook 329
10.1 Design of Magnetic Actuation System 329
10.2 Integration Strategy of Imaging and Actuation System 332
10.3 Application of Image-integrated Mobile Magnetic Actuation System 334

References 337
Index 341