Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and d...Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse functionalities.Researchers are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems,enabling in situ detection of substances that traditional sensing methods struggle to achieve.Over the past decade of development,significant research progress has been made in designing sensing strategies based on micro/nanorobots,employing various coordinated control and sensing approaches.This review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots,robot behavior,microrobotic manipulation,and robot-environment interactions.Providing recent studies and relevant applications in remote sensing,we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments,translating lab research achievements into widespread real applications.展开更多
In Magnetic Resonance Imaging(MRI)guided intervention procedures,the flexibility and reliability of the mammary gland fixation device are important indicators for cnsuring the quality of surgery.This paper presents a ...In Magnetic Resonance Imaging(MRI)guided intervention procedures,the flexibility and reliability of the mammary gland fixation device are important indicators for cnsuring the quality of surgery.This paper presents a bionic flexible fixation system for MRI-guided breast biopsy,and establishes a mathematical model of the palm-type curved plate and a breast compression model.The bending angle,eccentricity,and tightening stroke of the palm-type curved plate are considered the main influencing factors.The bending angle and eccentricity of the bionic palm-type curved plate and flexible fingers are optimized,and a prototype of the breast fixation system is developed.The experimental results show that when the external force is 10 N,the average repetitive accuracy of four lesion points is 0.71 mm,0.60 mm,0.63 mm,and 0.68 mm,respectively.When the pressures are 8 N,10 N,and 12 N,the thickness of the compressed tissue is 76.27 mm,72.8 mm and 68.73 mm,respectively.It has good repetitive accuracy and is compatible with the concept of flexible fixation that reduces the uncomfortable feeling of the human body.We propose that by optimizing the flexible tightening mechanism,it is feasible to properly control the external compression force to effectively reduce the compression pain for patients while guaranteeing the tightening reliability in breast biopsy.展开更多
基金supported by the National Natural Science Foundation under Project No. 52205590the Natural Science Foundation of Jiangsu Province under Project No. BK20220834+4 种基金the Start-up Research Fund of Southeast University under Project No. RF1028623098the Xiaomi Foundation/ Xiaomi Young Talents Programsupported by the Research Impact Fund (project no. R4015-21)Research Fellow Scheme (project no. RFS2122-4S03)the EU-Hong Kong Research and Innovation Cooperation Co-funding Mechanism (project no. E-CUHK401/20) from the Research Grants Council (RGC) of Hong Kong, the SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems, and the Multi-Scale Medical Robotics Center (MRC), InnoHK, at the Hong Kong Science Park
文摘Untethered micro/nanorobots that can wirelessly control their motion and deformation state have gained enormous interest in remote sensing applications due to their unique motion characteristics in various media and diverse functionalities.Researchers are developing micro/nanorobots as innovative tools to improve sensing performance and miniaturize sensing systems,enabling in situ detection of substances that traditional sensing methods struggle to achieve.Over the past decade of development,significant research progress has been made in designing sensing strategies based on micro/nanorobots,employing various coordinated control and sensing approaches.This review summarizes the latest developments on micro/nanorobots for remote sensing applications by utilizing the self-generated signals of the robots,robot behavior,microrobotic manipulation,and robot-environment interactions.Providing recent studies and relevant applications in remote sensing,we also discuss the challenges and future perspectives facing micro/nanorobots-based intelligent sensing platforms to achieve sensing in complex environments,translating lab research achievements into widespread real applications.
文摘In Magnetic Resonance Imaging(MRI)guided intervention procedures,the flexibility and reliability of the mammary gland fixation device are important indicators for cnsuring the quality of surgery.This paper presents a bionic flexible fixation system for MRI-guided breast biopsy,and establishes a mathematical model of the palm-type curved plate and a breast compression model.The bending angle,eccentricity,and tightening stroke of the palm-type curved plate are considered the main influencing factors.The bending angle and eccentricity of the bionic palm-type curved plate and flexible fingers are optimized,and a prototype of the breast fixation system is developed.The experimental results show that when the external force is 10 N,the average repetitive accuracy of four lesion points is 0.71 mm,0.60 mm,0.63 mm,and 0.68 mm,respectively.When the pressures are 8 N,10 N,and 12 N,the thickness of the compressed tissue is 76.27 mm,72.8 mm and 68.73 mm,respectively.It has good repetitive accuracy and is compatible with the concept of flexible fixation that reduces the uncomfortable feeling of the human body.We propose that by optimizing the flexible tightening mechanism,it is feasible to properly control the external compression force to effectively reduce the compression pain for patients while guaranteeing the tightening reliability in breast biopsy.
