Abstract

Magnetically actuated microrobots have exhibited broad application prospects in biomedical fields. To advance their clinical application, extensive research has attempted to enhance the navigation robustness of microrobots in the body. In the vascular environment, microrobots are easily obscured by blood cells and disturbed by fluid flow, leading to the failure of external sensors and the formation of navigation blind zones. However, most existing navigation methods are based on ideal environment assumptions and struggle to address the challenges posed by navigation blind zones. The study proposes a navigation framework integrating Extended Kalman Filter (EKF) and a Proportional–Integral–Derivative (PID) controller. The EKF fuses sensor measurements and the microrobot kinematic model to sustain continuous state estimation when sensors fail inside blind zones. The simulation results show that this navigation framework achieves pixel-level positioning accuracy under ideal conditions and a 100% navigation success rate. In the presence of blind zone interference, this navigation framework can effectively suppress the divergence of position errors and significantly improve navigation robustness. The study proposes a theoretical framework for microrobot navigation in vascular blind zones. Further physical prototype experiments are required to verify its practical performance.

IPC Classification

Keywords