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Acoustic levitation applied for reducing undesired lateral drift of magnetic helical microrobots

机译：用于减少磁螺旋微管的不期望的横向漂移的声学悬浮

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摘要

Magnetic helical microrobots can be effectively propelled via a controlled rotating magnetic field, and they have shown great potential in various biomedical applications. However, lateral drift caused by fluidic drag imbalance makes it hard for microrobots to achieve precise directional motion control, limiting their applications to perform practical tasks. Herein, we propose a reliable propulsion method to reduce the undesired lateral drift through levitating the microrobots from the substrate with the application of an acoustic field. We correlate the lateral drift with the total drag in the horizontal direction, which is mainly determined by the distance between the microrobots and the bottom. Theoretical analysis and simulation results suggest that a higher position from the substrate leads to a smaller lateral drift. We set up an acoustic levitation module to levitate the microrobots in fluids and an electromagnetic coil system to drive them. Experiments with and without acoustic levitation were carried out in contrast to analyze the lateral drift in motion under magnetic actuation. The results show that acoustic levitation can significantly reduce the undesired lateral drift of the helical microrobots, which would be a novel and effective strategy for further improving motion control.
机译：可以通过受控旋转磁场有效地推动磁性螺旋微管，并且它们在各种生物医学应用中示出了很大的潜力。然而，由流体阻力不平衡引起的横向漂移使得微机器难以实现精确的定向运动控制，限制其应用执行实用任务。在此，我们提出了一种可靠的推进方法，以通过施加声场从基板悬浮微量脊髓来减少不希望的横向漂移。我们将横向漂移与水平方向的总拖动相关联，这主要由微机器和底部之间的距离决定。理论分析和仿真结果表明，来自基板的较高位置导致较小的横向漂移。我们设置了一种声学悬浮模块，以浮动流体和电磁线圈系统的微机器以驱动它们。相反，进行了具有和不具有声学升定的实验，以分析磁性致动下的运动中的横向漂移。结果表明，声学悬浮可以显着降低螺旋微米的不希望的横向漂移，这是进一步改善运动控制的新颖有效策略。

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  • 来源
    《Journal of Applied Physics》 |2020年第18期|184703.1-184703.9|共9页
  • 作者

    Lei Xu; De Cong; Kehan Chen; Jun Cai; Wenqiang Zhang;

  • 作者单位

    School of Mechanical Engineering and Automation Beihang University Beijing 100191 China College of Engineering China Agricultural University Beijing 100083 China;

    School of Mechanical Engineering and Automation Beihang University Beijing 100191 China Shen Yuan Honors College Beihang University Beijing 100191 China;

    College of Engineering China Agricultural University Beijing 100083 China;

    School of Mechanical Engineering and Automation Beihang University Beijing 100191 China Beijing Advanced Innovation Center for Biomedical Engineering Beihang University Beijing 100191 China;

    College of Engineering China Agricultural University Beijing 100083 China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);美国《生物学医学文摘》(MEDLINE);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
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