AI-driven actuation-compatible tracking for closed-loop navigation of miniature robots in vivo

IF 25.5 1区计算机科学 Q1 ROBOTICS

Science Robotics Pub Date : 2026-09-23 DOI:10.1126/scirobotics.aee0592

Delin Hu, Zhaoyang Qi, Yihang Jiang, Xurui Liu, Moqiu Zhang, Haojin Yang, Li Zhang

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引用次数: 0

Abstract

Miniature wireless magnetic robots (MWMRs) hold immense potential for minimally invasive interventions. Real-time tracking of MWMRs is essential for precise in vivo navigation but remains challenging. Tracking MWMRs via their emitted magnetic signals offers a viable solution, yet it has been limited to centimeter-scale robots because isolating weak MWMR signals from overwhelming actuation-induced interference becomes increasingly difficult with miniaturization. Here, we present an artificial intelligence (AI)–driven tracking system to overcome these challenges, enabling precise localization of millimeter-scale MWMRs in the presence of actuation fields. Our approach integrates a sensor array design with a transformer to accurately model and filter the interference, followed by a spatiotemporal transformer that interprets the extracted MWMR signals over a short time window to corresponding three-dimensional coordinates. Our system has been validated in a range of in vitro and in vivo experiments, demonstrating its applicability to closed-loop navigation of MWMRs in unshielded clinical settings.

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微型机器人体内闭环导航的人工智能驱动驱动兼容跟踪

微型无线磁性机器人（MWMRs）在微创干预方面具有巨大的潜力。mwmr的实时跟踪对于精确的体内导航是必不可少的，但仍然具有挑战性。通过MWMR发射的磁信号跟踪MWMR提供了一个可行的解决方案，但它仅限于厘米级机器人，因为随着小型化，将微弱的MWMR信号与压倒性的驱动诱导干扰隔离开来变得越来越困难。在这里，我们提出了一种人工智能（AI）驱动的跟踪系统来克服这些挑战，在驱动场存在的情况下实现毫米级mwmr的精确定位。我们的方法集成了传感器阵列设计和变压器，以精确建模和过滤干扰，然后是一个时空变压器，在短时间窗口内将提取的MWMR信号解释为相应的三维坐标。我们的系统已在一系列体外和体内实验中得到验证，证明了其在非屏蔽临床环境中对mwmr闭环导航的适用性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Science Robotics Mathematics-Control and Optimization

CiteScore

30.60

自引率

2.80%

发文量

期刊介绍： Science Robotics publishes original, peer-reviewed, science- or engineering-based research articles that advance the field of robotics. The journal also features editor-commissioned Reviews. An international team of academic editors holds Science Robotics articles to the same high-quality standard that is the hallmark of the Science family of journals. Sub-topics include: actuators, advanced materials, artificial Intelligence, autonomous vehicles, bio-inspired design, exoskeletons, fabrication, field robotics, human-robot interaction, humanoids, industrial robotics, kinematics, machine learning, material science, medical technology, motion planning and control, micro- and nano-robotics, multi-robot control, sensors, service robotics, social and ethical issues, soft robotics, and space, planetary and undersea exploration.