• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IEEE transactions on industrial informatics >Simultaneous Localization and Mapping-Based In Vivo Navigation Control of Microparticles
【24h】

Simultaneous Localization and Mapping-Based In Vivo Navigation Control of Microparticles

机译：基于微粒的体内导航控制同时定位和映射

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

In vivo manipulation of microparticles, such as biological cells and drugs, has attracted considerable attention in recent years. This paper presents the development of robot-aided manipulation technology that can control targeted microparticles to move a relatively long distance in an in vivo environment. The field of view can be updated online, such that the controlled microparticle can be tracked automatically in transportation. Simultaneous localization and mapping for in vivo applications are first investigated. Based on the in vivo map, an artificial potential field-based controller with disturbance compensation is developed to navigate microparticles in vivo. Experiments on navigating single cells in living zebrafish embryos by using optical tweezers manipulator are performed to demonstrate the effectiveness of the proposed control approach in a dynamic in vivo environment.
机译：体内操纵微粒，例如生物细胞和药物，近年来引起了相当大的关注。本文介绍了机器人辅助操作技术的发展，可以控制靶向微粒以在体内环境中移动相对长的距离。视野可以在线更新，使得可以在运输中自动跟踪受控微粒。首先研究了体内应用的同时定位和映射。基于体内图，开发了一种具有干扰补偿的人工潜在场的控制器，以在体内导航微粒。通过使用光学镊子操纵器进行在生活斑马鱼胚胎中导航单个细胞的实验，以证明所提出的控制方法在动态环境中的有效性。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号