Automatic Manipulation of Magnetically Actuated Helical Microswimmers in Static Environments

	Automatic Manipulation of Magnetically Actuated Helical Microswimmers in Static Environments
	Liu, Jia; Xu, Tiantian; Huang, Chenyang; Wu, Xinyu
刊名	MICROMACHINES
	2018
文献子类	期刊论文
英文摘要	Electromagnetically actuated microswimmers have been widely used in various biomedical applications due to their minor invasive traits and their easy access to confined environments. In order to guide the microswimmers autonomously towards a target, an obstacle-free path must be computed using path planning algorithms, meanwhile a motion controller must be formulated. However, automatic manipulations of magnetically actuated microswimmers are underdeveloped and still are challenging topics. In this paper, we develop an automatic manipulation system for magnetically actuated helical microswimmers in static environments, which mainly consists of a mapper, a path planner, and a motion controller. First, the mapper processes the captured image by morphological transformations and then labels the free space and the obstacle space. Second, the path planner explores the obstacle-free space to find a feasible path from the start to the goal by a global planning algorithm. Last, the motion controller guides the helical microswimmers along the desired path by a closed-loop algorithm. Experiments are conducted to verify the effectiveness of the proposed automatic manipulation. Furthermore, our proposed approach presents the first step towards applications of microswimmers for targeted medical treatments, such as micromanipulation, targeted therapy, and targeted drug delivery.
URL标识	查看原文
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/13679]
专题	深圳先进技术研究院_集成所
推荐引用方式 GB/T 7714	Liu, Jia,Xu, Tiantian,Huang, Chenyang,et al. Automatic Manipulation of Magnetically Actuated Helical Microswimmers in Static Environments[J]. MICROMACHINES,2018.
APA	Liu, Jia,Xu, Tiantian,Huang, Chenyang,&Wu, Xinyu.(2018).Automatic Manipulation of Magnetically Actuated Helical Microswimmers in Static Environments.MICROMACHINES.
MLA	Liu, Jia,et al."Automatic Manipulation of Magnetically Actuated Helical Microswimmers in Static Environments".MICROMACHINES (2018).