{"title":"颅脑微创手术被动机器人磁导航系统建模与优化","authors":"Xu Tang, Ye Xia, Xingyu Liu","doi":"10.1002/rcs.70096","DOIUrl":null,"url":null,"abstract":"<div>\n \n \n <section>\n \n <h3> Background</h3>\n \n <p>Passive microrobots offer great potential for minimally invasive brain interventions due to their cable-free actuation and reduced tissue damage. However, existing magnetic navigation systems (MNSs) often suffer from low energy efficiency and limited adaptability.</p>\n </section>\n \n <section>\n \n <h3> Methods</h3>\n \n <p>We propose a macro–micro collaborative MNS combining macro-scale mechanical positioning with local magnetic field modulation via coil arrays. A numerical model was developed to compare square and circular coils under different spatial configurations.</p>\n </section>\n \n <section>\n \n <h3> Results</h3>\n \n <p>A novel MNS structure employing square coils was optimized using multi-objective algorithms and evaluated using newly defined performance metrics. The optimized system achieved over 60% reduction in thermal power and produced an average magnetic field of 148.60 mT, improving both energy efficiency and dynamic performance.</p>\n </section>\n \n <section>\n \n <h3> Conclusions</h3>\n \n <p>The proposed system significantly enhances magnetic control capabilities, offering a promising solution for practical, minimally invasive brain interventions.</p>\n </section>\n </div>","PeriodicalId":50311,"journal":{"name":"International Journal of Medical Robotics and Computer Assisted Surgery","volume":"21 4","pages":""},"PeriodicalIF":2.1000,"publicationDate":"2025-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Modelling and Optimization of Magnetic Navigation Systems for Passive Robots in Minimally Invasive Brain Surgery\",\"authors\":\"Xu Tang, Ye Xia, Xingyu Liu\",\"doi\":\"10.1002/rcs.70096\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div>\\n \\n \\n <section>\\n \\n <h3> Background</h3>\\n \\n <p>Passive microrobots offer great potential for minimally invasive brain interventions due to their cable-free actuation and reduced tissue damage. However, existing magnetic navigation systems (MNSs) often suffer from low energy efficiency and limited adaptability.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Methods</h3>\\n \\n <p>We propose a macro–micro collaborative MNS combining macro-scale mechanical positioning with local magnetic field modulation via coil arrays. A numerical model was developed to compare square and circular coils under different spatial configurations.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Results</h3>\\n \\n <p>A novel MNS structure employing square coils was optimized using multi-objective algorithms and evaluated using newly defined performance metrics. The optimized system achieved over 60% reduction in thermal power and produced an average magnetic field of 148.60 mT, improving both energy efficiency and dynamic performance.</p>\\n </section>\\n \\n <section>\\n \\n <h3> Conclusions</h3>\\n \\n <p>The proposed system significantly enhances magnetic control capabilities, offering a promising solution for practical, minimally invasive brain interventions.</p>\\n </section>\\n </div>\",\"PeriodicalId\":50311,\"journal\":{\"name\":\"International Journal of Medical Robotics and Computer Assisted Surgery\",\"volume\":\"21 4\",\"pages\":\"\"},\"PeriodicalIF\":2.1000,\"publicationDate\":\"2025-08-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Medical Robotics and Computer Assisted Surgery\",\"FirstCategoryId\":\"3\",\"ListUrlMain\":\"https://onlinelibrary.wiley.com/doi/10.1002/rcs.70096\",\"RegionNum\":3,\"RegionCategory\":\"医学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"SURGERY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Medical Robotics and Computer Assisted Surgery","FirstCategoryId":"3","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rcs.70096","RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"SURGERY","Score":null,"Total":0}
Modelling and Optimization of Magnetic Navigation Systems for Passive Robots in Minimally Invasive Brain Surgery
Background
Passive microrobots offer great potential for minimally invasive brain interventions due to their cable-free actuation and reduced tissue damage. However, existing magnetic navigation systems (MNSs) often suffer from low energy efficiency and limited adaptability.
Methods
We propose a macro–micro collaborative MNS combining macro-scale mechanical positioning with local magnetic field modulation via coil arrays. A numerical model was developed to compare square and circular coils under different spatial configurations.
Results
A novel MNS structure employing square coils was optimized using multi-objective algorithms and evaluated using newly defined performance metrics. The optimized system achieved over 60% reduction in thermal power and produced an average magnetic field of 148.60 mT, improving both energy efficiency and dynamic performance.
Conclusions
The proposed system significantly enhances magnetic control capabilities, offering a promising solution for practical, minimally invasive brain interventions.
期刊介绍：
The International Journal of Medical Robotics and Computer Assisted Surgery provides a cross-disciplinary platform for presenting the latest developments in robotics and computer assisted technologies for medical applications. The journal publishes cutting-edge papers and expert reviews, complemented by commentaries, correspondence and conference highlights that stimulate discussion and exchange of ideas. Areas of interest include robotic surgery aids and systems, operative planning tools, medical imaging and visualisation, simulation and navigation, virtual reality, intuitive command and control systems, haptics and sensor technologies. In addition to research and surgical planning studies, the journal welcomes papers detailing clinical trials and applications of computer-assisted workflows and robotic systems in neurosurgery, urology, paediatric, orthopaedic, craniofacial, cardiovascular, thoraco-abdominal, musculoskeletal and visceral surgery. Articles providing critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies, commenting on ease of use, or addressing surgical education and training issues are also encouraged. The journal aims to foster a community that encompasses medical practitioners, researchers, and engineers and computer scientists developing robotic systems and computational tools in academic and commercial environments, with the intention of promoting and developing these exciting areas of medical technology.
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