Magnetically Actuated Continuum Medical Robots: A Review

被引:64
作者
Yang, Zhengxin [1 ,2 ]
Yang, Haojin [1 ]
Cao, Yanfei [1 ]
Cui, Yaoyao [2 ,3 ]
Zhang, Li [1 ,4 ,5 ,6 ,7 ]
机构
[1] Chinese Univ Hong Kong, Dept Mech & Automat Engn, Hong Kong 999077, Peoples R China
[2] Chinese Acad Sci, Suzhou Inst Biomed Engn & Technol, Suzhou 215163, Peoples R China
[3] Univ Sci & Technol China, Sch Biomed Engn Suzhou, Hefei 230026, Peoples R China
[4] Chinese Univ Hong Kong, Dept Surg, Hong Kong 999077, Peoples R China
[5] Chinese Univ Hong Kong, Chow Yuk Ho Technol Ctr Innovat Med, Hong Kong 999077, Peoples R China
[6] Chinese Univ Hong Kong, Stone Robot Inst T, Hong Kong 999077, Peoples R China
[7] Multiscale Med Robot Ctr, Hong Kong Sci Pk, Hong Kong 999077, Peoples R China
关键词
catheters; continuum manipulators; endoscopes; guidewires; magnetic actuation; medical robots; microrobots; CATHETER ABLATION; NAVIGATION SYSTEM; BIOMEDICAL APPLICATIONS; CAPSULE ENDOSCOPE; RECENT PROGRESS; DYNAMIC CONTROL; REMOTE-CONTROL; DESIGN; MICROROBOTS; COLONOSCOPY;
D O I
10.1002/aisy.202200416
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The magnetic field has unique advantages in manipulating miniature robots working inside the human body, such as high transparency to biological tissue and good controllability for field generation. Generally, the actuated magnetic robot can be classified into two categories: tethered devices like intravascular microcatheters and untethered devices like helical swimmers. Among these, the tethered devices have a long history and good clinical application prospects, considering their high-dose delivery and easy removal after the procedure. As an evolution of traditional continuum medical devices, the integration with magnetic actuation provides them with better scalability and improved dexterity. Although rapidly developed in the last two decades, the field of tethered magnetic robots requires further advancements in terms of design, fabrication, modeling, and control, especially for clinical applications. Herein, the recent progress of magnetically actuated continuum medical robots is focused on, intending to offer readers a comprehensive survey of the state-of-the-art technologies and an information collection for future system design.
引用
收藏
页数:25
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