Controlled microrobot for moving in human vessels

Abstract

Introduction: The creation of controlled microrobots capable of moving in human vessels in accordance with a given traffic is asophisticated problem. An effective way to solve it is the use of SEMS (Smart ElectroMechanical System) modules. These modulesconnected in a special way can simulate the operation of a ciliary apparatus or a flagellated propulsor used as propulsive devices for amicrorobot. Purpose: Development of a controlled medical microrobot based on standard SEMS modules. Results: A medical microrobotis developed. The principles of collective movement control for such microrobots are discussed. A special role in microrobot groupcontrol is assigned to the central nervous system of a microrobot which functions as an automatic control system. When synthesizingan optimal situational control over a group of microrobots, logical-probabilistic and logical-linguistic constraints are translatedinto logical-interval ones, reducing the optimization problem to solving a number of classical mathematical programming problems.Practical relevance: The use of various combinations of SEMS modules in medical microrobots allows you to increase their accuracy,speed and adaptability to the environment. This is because in this case, in contrast to the mechanisms commonly used in microrobots,parallelism is introduced not only in the measurement and calculation processes, but also in the execution of control commands. Thedesign features of the developed modules allow you to provide broad technological capabilities of various biomedical robotic complexes.