群体行为
纳米机器人学
微尺度化学
磁场
磁铁
群机器人
计算机科学
纳米技术
电磁线圈
材料科学
物理
电气工程
人工智能
工程类
数学教育
数学
量子力学
出处
期刊:ACS Nano
[American Chemical Society]
日期:2022-08-04
卷期号:16 (9): 13728-13739
被引量:19
标识
DOI:10.1021/acsnano.2c05244
摘要
Microrobot swarms have promising prospects in biomedical applications ranging from targeted cargo delivery to minimally invasive surgery. However, such potential is constrained by the small output force and low efficiency of the current microrobot swarms. To address this challenge, we report a tentacle-like reconfigurable microrobot swarm by programming paramagnetic microparticles into reconfigurable carpets with numerous cilia. This wirelessly controlled microrobot swarm is constructed via a strong gradient magnetic field in combination with a programmable oscillating magnetic field. The gradient magnetic field is supplied by a permanent magnet, which enables fast formation of a microrobot swarm with powerful collective behaviors via cooperative physical structures within the swarm. The oscillating magnetic field is produced by a custom-built electromagnetic coil system, which is adopted as an actuation device for conducting dexterous manipulation via controllable oscillation motion. Using the proposed microrobot swarming strategy, a milligram-level magnetic carpet achieves a millinewton-level output force. By applying different types of magnetic fields, the magnetic carpet accomplishes dexterous manipulation tasks, lesion removal, and controllable drug diffusion with a high-efficiency response in microscale executions. The formation and control mechanisms of the microrobot swarm reported here provide a practical candidate for in vivo biomedical treatment.
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