Chen Yutan, Tong Dingwen, Zhao Yiqun, Chen Tao, Fan Xinjian
School of Future Science and Engineering, Soochow University, Suzhou, 215222, China.
School of Mechanical and Electrical Engineering, Soochow University, Suzhou, 215131, China.
Sci Rep. 2025 May 22;15(1):17808. doi: 10.1038/s41598-025-00320-y.
Over the past two decades, the method of controlling magnetic capsule robots for targeted drug delivery in gastrointestinal (GI) environments using external magnetic fields has been frequently discussed. In typical targeted drug delivery tasks, capsule robots must not only possess the ability to navigate across large obstacles but also adjust their orientation upon reaching the target site. However, most reported magnetic actuation systems struggle to simultaneously fulfill these two requirements. In this paper, we present a three-degree-of-freedom (3-DOF) semi-open closed-loop magnetic actuation system (SCMAS) for generating static gradient magnetic fields and dynamic rotating magnetic fields. By utilizing a BLE-IMU module to provide real-time feedback on the orientation of the internal permanent magnet and employing a PD controller for precise control, the SCMAS achieves both high accuracy and adaptability. We applied the SCMAS to a permanent magnet capsule robot and a capsule drug delivery robot, conducting multi-point drug delivery experiments in isolated porcine gastric tissues. The experimental results demonstrate that the SCMAS can achieve localized point-to-point orientation control and speed control over a wide range. This study may provide new insights into control strategies for magnetic capsule robots in the future.
在过去二十年中，利用外部磁场控制磁胶囊机器人在胃肠道环境中进行靶向给药的方法一直备受讨论。在典型的靶向给药任务中，胶囊机器人不仅必须具备跨越大型障碍物的导航能力，还需在到达目标部位时调整其方向。然而，大多数已报道的磁驱动系统难以同时满足这两个要求。在本文中，我们提出了一种用于产生静态梯度磁场和动态旋转磁场的三自由度（3-DOF）半开放式闭环磁驱动系统（SCMAS）。通过利用BLE-IMU模块提供内部永磁体方向的实时反馈，并采用PD控制器进行精确控制，SCMAS实现了高精度和适应性。我们将SCMAS应用于永磁体胶囊机器人和胶囊给药机器人，在离体猪胃组织中进行了多点给药实验。实验结果表明，SCMAS能够在很宽的范围内实现局部点对点的方向控制和速度控制。本研究可能为未来磁胶囊机器人的控制策略提供新的见解。
