毫米级机器人无线定位突破六自由度限制，精度达亚毫米级
Magneto-oscillatory localization for small-scale robots
- 利用磁偶极振荡梁打破旋转对称性，实现全六自由度定位
- 在12厘米距离内实现亚毫米级精度，刷新率高达200Hz
- 适用于微创手术器械与闭环控制机器人，具临床转化潜力
磁力广泛应用于医疗机器人与设备的无线定位与驱动。然而，现有静态磁场定位方法受限于大尺寸磁体，且因磁轴旋转对称性约束，仅能实现五自由度定位。本文提出小尺度磁振荡定位（SMOL）方法，可实现毫米级追踪器在深部生物组织中全六自由度的无线定位。SMOL装置利用带有磁偶极矩的机械共振悬臂的时序振荡，打破旋转对称性，通过频率响应实现高信噪比，可在长达12厘米的距离上达到亚毫米级精度，具备接近连续的200 Hz刷新率。实验展示了其在实时闭环控制机器人及微创手术工具中的集成应用，凸显了该方法的巨大潜力。
原文摘要 · Abstract (English)
Magnetism is widely used for the wireless localization and actuation of robots and devices for medical procedures. However, current static magnetic localization methods suffer from large required magnets and are limited to only five degrees of freedom due to a fundamental constraint of the rotational symmetry around the magnetic axis. We present the small-scale magneto-oscillatory localization (SMOL) method, which is capable of wirelessly localizing a millimeter-scale tracker with full six degrees of freedom in deep biological tissues. The SMOL device uses the temporal oscillation of a mechanically resonant cantilever with a magnetic dipole to break the rotational symmetry, and exploits the frequency-response to achieve a high signal-to-noise ratio with sub-millimeter accuracy over a large distance of up to 12 centimeters and quasi-continuous refresh rates up to 200 Hz. Integration into real-time closed-loop controlled robots and minimally-invasive surgical tools are demonstrated to reveal the vast potential of the SMOL method.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。