无需模型的视觉控制算法，实现微机器人自动推动物体与细胞。
Autonomous Vision-Based Magnetic Microrobotic Pushing of Micro-Objects and Cells
- 通过调整磁场轴向控制微机器人方向，实现自主推物。
- 仅用两个简单条件即可沿预定路径成功推送微物体。
- 适用于组织工程、药物递送等生物医学场景。
精确且自主地运输微物体和生物细胞可推动多个研究领域的发展。本文提出一种新型基于视觉的无模型微机器人推动物算法，通过调节旋转磁场轴向来控制球形Janus滚动微机器人的航向角与自转轴。引入微机器人引导走廊以约束目标并避免推移失败。实验表明，仅需两个简单条件，微机器人即可成功且自主地沿预设轨迹推动微米级物体。在不同驱动频率与引导走廊宽度下，评估了算法相对于理想路径的平均绝对误差与完成时间。最后，通过自主运输单个生物细胞，验证了该方法在组织工程、药物递送和合成生物学中的应用潜力。
原文摘要 · Abstract (English)
Accurate and autonomous transportation of micro-objects and biological cells can enable significant advances in a wide variety of research disciplines. Here, we present a novel, vision-based, model-free microrobotic pushing algorithm for the autonomous manipulation of micro objects and biological cells. The algorithm adjusts the axis of a rotating magnetic field that in turn controls the heading angle and spin axis of a spherical Janus rolling microrobot. We introduce the concept of a microrobotic guiding corridor to constrain the object and to avoid pushing failures. We then show that employing only two simple conditions, the microrobot is able to successfully and autonomously push microscale objects along predefined trajectories. We evaluate the performance of the algorithm by measuring the mean absolute error and completion time relative to a desired path at different actuation frequencies and guiding corridor widths. Finally, we demonstrate biomedical applicability by autonomously transporting a single biological cell, highlighting the methods potential for applications in tissue engineering, drug delivery and synthetic biology.
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