磁驱动胶囊机器人系统综述：设计、控制与应用

隋建波; 李炼; 陈金湖; 王湘云; 王成勇

doi:10.12052/gdutxb.240008

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磁驱动胶囊机器人系统综述：设计、控制与应用

特邀综述 | 更新时间：2026-05-27

- 磁驱动胶囊机器人系统综述：设计、控制与应用
- A Systematic Review of Magnetically Actuated Capsule Robots: Design, Control and Applications
- 广东工业大学学报 2024年41卷第3期页码：1-17
- 作者机构：
  
  广东工业大学广东省微创手术器械设计与精密制造重点实验室,广东,广州,510006
- 作者简介：
  
  隋建波(1984–)，男，副教授，博士，主要研究方向为智能医疗器械与系统、先进制造技术与装备，E-mail：jsui@gdut.edu.cn，jsui@gdut.edu.cn
- 基金信息：
  
  国家自然科学基金资助面上项目(52175386);广东省自然科学基金资助项目(2023A1515012634)
- DOI：10.12052/gdutxb.240008
  中图分类号： TP242
- 网络首发：2024-05-25，
  
  纸质出版：2024
- 稿件说明：
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隋建波, 李炼, 陈金湖, 王湘云, 王成勇. 磁驱动胶囊机器人系统综述：设计、控制与应用[J]. 广东工业大学学报, 2024, 41(3): 1-17.

Sui Jian-bo, Li Lian, Chen Jin-hu, et al. A Systematic Review of Magnetically Actuated Capsule Robots: Design, Control and Applications[J]. 2024, 41(3): 1-17.
隋建波, 李炼, 陈金湖, 王湘云, 王成勇. 磁驱动胶囊机器人系统综述：设计、控制与应用[J]. 广东工业大学学报, 2024, 41(3): 1-17. DOI： 10.12052/gdutxb.240008.

Sui Jian-bo, Li Lian, Chen Jin-hu, et al. A Systematic Review of Magnetically Actuated Capsule Robots: Design, Control and Applications[J]. 2024, 41(3): 1-17. DOI： 10.12052/gdutxb.240008.

摘要

本文系统综述了磁驱动胶囊机器人的设计、控制机制和多样化应用，旨在通过系统文献检索和分析，为从事胶囊机器人开发和利用的研究人员、工程师和从业者提供有价值的见解。本文从尺寸形状、材料和运动机制方面总结了磁驱动胶囊机器人的设计原则，分析了精确控制方法和定位导航策略，探讨了磁驱动胶囊机器人在胃肠道疾病检查、靶向药物输送和微创手术方面的多样化应用。根据系统综述的范围和目标，概括了该领域存在的技术挑战和潜在的研究方向。通过对定位精度、控制策略、材料性能等问题的不断研究和创新，磁驱动胶囊机器人系统将为医学治疗和生物学研究领域带来重大突破和进步。

Abstract

This systematic review provides a comprehensive analysis of magnetically actuated capsule robots

focusing on their design

control mechanisms

and diverse applications. Through a systematic literature search and analysis

this review aims to provide valuable insights for researchers

engineers

and practitioners involved in the development and utilization of capsule robots in various domains. The design principles of magnetically actuated capsule robots are summarized in terms of size

shape

material and motion mechanism

the precise control methods and positioning navigation strategies analyzed

and the application of magnetically actuated capsule robots in gastrointestinal disease examination discussed

targeting drug delivery and minimally invasive surgery. According to the scope and objectives of the systematic review

the technical challenges and potential research directions in this field are summarized. Through continuous research and innovation on issues such as positioning accuracy

control strategies

and material properties

the magnetically actuated capsule robot system will bring major breakthroughs and advancements in the fields of medical treatment and biological research.

关键词

Keywords

references

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