Magnetic actuated miniaturized medical robots(MAMMR)can be controlled by an external magnetic field to actively navigate through the narrow cavities of the human body,enabling inspection and treatment of the deep-seated diseased areas.This technology has great potential in the clinical medical field.According to the size difference,MAMMR can be divided into centimetre/millimetre-scale capsule robots,millimetre/micrometre-scale continuum robots,and micro/nanometre-scale microrobots.The magnetic-control principles,structural design and potential medical applications are systematically summarized,and the latest research progresses are reviewed.Finally,the prospects for future research directions of MAMMR are discussed,including the biocompatibility of robot materials,visual feedback for executing medical tasks,miniaturization of multiple medical modules,stability and robustness of motion control.
关键词
磁控式/医疗机器人/胶囊机器人/连续体机器人/微型机器人
Key words
magnetic actuation/medical robot/capsule robot/continuum robot/microrobot
维普
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